Product detection method, equipment, system and medium

Abstract

The invention provides a product detection method, device and system and a medium. The method comprises the following steps: obtaining sanding processing data of a product; determining a sanding quality score of the product based on the sanding processing data; a corresponding first preset mark is obtained based on the sanding quality score, and the three-dimensional model of the product is marked; determining whether the sanding processing of the product is abnormal or not based on the sanding quality score; and on the basis that the sanding processing of the product is abnormal, an abnormal area is marked in the marked three-dimensional model. By utilizing the method, whether the sanding processing of the product is abnormal or not can be accurately detected, so that the product detection efficiency can be ensured.

Description

Technical Field

[0001] The present application relates to the field of detection, and in particular to a product detection method, equipment, system and medium. Background Art

[0002] In the field of sanding processing, in order to ensure the quality of products, abnormality detection of products after sanding processing is an indispensable link.

[0003] However, the traditional methods currently used mostly rely on manual inspection, which is easily affected by the subjective factors of the inspectors (for example, experience and status). These subjective factors make it difficult to ensure the accuracy of the inspection and may also lead to missed inspections, resulting in poor inspection efficiency and affecting product quality. Summary of the invention

[0004] In view of the above, it is necessary to provide a product testing method, equipment, system and medium that can solve the technical problem that product quality is affected by poor testing efficiency.

[0005] On the one hand, the present application provides a product detection method, which includes: obtaining sanding processing data of a product, determining a sanding quality score of the product based on the sanding processing data, obtaining a corresponding first preset mark based on the sanding quality score, marking a three-dimensional model of the product, determining whether there is an abnormality in the sanding processing of the product based on the sanding quality score, and identifying the abnormal area in the three-dimensional model after the marking process based on the existence of the abnormality in the sanding processing of the product.

[0006] In some embodiments of the present application, the method further includes: obtaining specification data of the product, and constructing a three-dimensional model of the product according to the specification data.

[0007] In some embodiments of the present application, the sanding processing data includes sanding force data corresponding to a single sanding processing, the sanding force data is data generated when processing at least one sanding processing area in the product, the sanding force data includes real sanding forces and target sanding forces corresponding to multiple time points one by one, and determining the sanding quality score of the product based on the sanding processing data includes: determining the real friction coefficient between the at least one sanding processing area and the abrasive and the positive force applied by the abrasive to the at least one sanding processing area at each time point based on the real sanding forces corresponding to the multiple time points, calculating the real friction force at each time point according to the real friction coefficient and the positive force corresponding to each time point, calculating the target friction force at each time point according to the standard friction coefficient and the target sanding force corresponding to each time point, and determining the sanding quality score corresponding to each time point according to the real friction force and the target friction force at each time point.

[0008] In some embodiments of the present application, the sanding processing data includes sanding force data corresponding to multiple sanding processes of the product, the sanding force data corresponding to each sanding process is data generated when processing at least one sanding process area in the product, and the sanding force data corresponding to each sanding process includes real sanding force and target sanding force corresponding to multiple time points one by one. The sanding quality score of the product determined based on the sanding processing data includes: determining the real friction coefficient between the at least one sanding process area and the abrasive tool in each sanding process and the friction coefficient applied by the abrasive tool to the at least one sanding process area at each time point based on the real sanding forces corresponding to the multiple time points. The positive force of each time point in each sanding process is calculated according to the real friction coefficient and the positive force corresponding to each time point in each sanding process, the real friction force at each time point in each sanding process is calculated, and the target friction force at each time point in each sanding process is calculated according to the standard friction coefficient and the target grinding force corresponding to each time point in each sanding process. According to the real friction force and the target friction force at each time point in each sanding process, the initial quality score corresponding to each time point in each sanding process is determined, and according to multiple initial quality scores corresponding to each time point in multiple sanding processes of the product, the sanding quality score at each time point is calculated.

[0009] In some embodiments of the present application, determining the sanding quality score of the product based on the sanding processing data also includes: counting the number of initial quality scores corresponding to each sanding processing, determining whether there are different numbers of initial quality scores corresponding to each sanding processing, if there are different numbers of initial quality scores corresponding to each sanding processing, taking the largest number of initial quality scores corresponding to a single sanding processing as a target number value, and based on the target number value, interpolating other initial quality scores except the initial quality score corresponding to the target number value, so that the multiple sanding processing correspond to the same number of initial quality scores.

[0010] In some embodiments of the present application, the step of determining the real friction coefficient between the at least one sanding processing area and the grinding tool and the normal force applied by the grinding tool to the at least one sanding processing area at each time point based on the real grinding forces corresponding to the multiple time points includes: performing frequency domain transformation on the real grinding forces corresponding to the multiple time points to obtain spectrum data, determining the amplitude corresponding to each frequency within a preset frequency range in the spectrum data, calculating the energy corresponding to each frequency according to the amplitude corresponding to each frequency, determining the real friction coefficient according to the energies corresponding to multiple frequencies within the preset frequency range, filtering the real grinding forces corresponding to each time point to obtain the normal force corresponding to each time point.

[0011] In some embodiments of the present application, the method also includes: determining a first curve composed of the actual grinding force corresponding to each time point, and a second curve composed of the target grinding force composed of each time point, determining a first difference area and a second difference area corresponding to each of the sanding processing areas composed of the first curve and the second curve, wherein the first difference area is when the actual grinding force at each time point when the sanding processing area of ​​the product is processed is less than the corresponding target grinding force, and the second difference area is when the actual grinding force at each time point when the sanding processing area of ​​the product is processed is greater than the corresponding target grinding force, and visually identifying the first difference area and the second difference area corresponding to each of the sanding processing areas.

[0012] In some embodiments of the present application, the method also includes: calculating the first total area of ​​all first difference areas and the second total area of ​​all second difference areas of the product based on the first difference area and the second difference area corresponding to each sanding processing area of ​​the product, and calculating the area difference and area sum between the first total area and the second total area to visualize the area difference and area sum.

[0013] In some embodiments of the present application, the method further includes: calculating the sanding quality index of the at least one sanding processing area according to the actual sanding force and the target sanding force corresponding to the at least one sanding processing area, and / or the first difference area and the second difference area, generating a data table according to the sanding quality index, and if the sanding quality index of the data table includes an abnormal quality index greater than a preset value, using a second preset mark to mark the abnormal quality index in the data table.

[0014] In some embodiments of the present application, the marking processing of the three-dimensional model based on the first preset mark corresponding to the sanding quality score includes: determining the visualization area corresponding to the at least one sanding processing area in the three-dimensional model, and marking the visualization area according to the first preset mark corresponding to the sanding quality score corresponding to each time point.

[0015] In some embodiments of the present application, the sanding process based on the product is abnormal, and identifying the abnormal area in the three-dimensional model after marking includes: projecting the marked visualization area to a preset plane to obtain a projection area, determining the sanding quality score outside a preset threshold range as an abnormal quality score, determining the abnormal area in the projection area and / or the marked visualization area based on the abnormal quality score, and boxing the abnormal area in the projection area and / or the marked visualization area.

[0016] In some embodiments of the present application, the method also includes: determining a grinding force deviation between a real grinding force corresponding to the abnormal quality score and a target grinding force, and based on the grinding force deviation, calculating a compensation value of the target grinding force corresponding to the abnormal quality score using a preset model to perform sanding processing on the next product.

[0017] In some embodiments of the present application, there are multiple sanding processing areas, and the method further includes: determining the index corresponding to each sanding processing area according to the processing sequence corresponding to the multiple sanding processing areas, and marking the visualization areas corresponding to the multiple sanding processing areas according to the processing sequence and the index corresponding to each sanding processing area. On the other hand, the present application provides an electronic device, comprising: a memory storing at least one instruction; and a processor executing the at least one instruction to implement the product detection method.

[0018] On the other hand, the present application provides a product inspection system, comprising: a sanding device for sanding the product to generate the sanding processing data; and the electronic device for pushing the processing data to the sanding device based on the existence of abnormalities in the sanding processing of the product.

[0019] On the other hand, the present application provides a computer-readable storage medium, wherein at least one instruction is stored in the computer-readable storage medium, and the at least one instruction is executed by a processor in an electronic device to implement the product detection method.

[0020] In the product detection method provided in the present embodiment, since the specification data of the product can reflect the characteristics of the product such as size, shape and structure, the three-dimensional model of the product can be accurately constructed according to the specification data. Since the sanding processing data can reflect the parameters such as the real grinding force and the target grinding force in the sanding processing process, the sanding quality score can be accurately determined through the sanding processing data, so that the sanding quality score can accurately reflect the quality of the sanding processing. By marking the three-dimensional model with the first preset mark corresponding to the sanding quality score, the sanding effect can be intuitively displayed. Since the sanding quality score can accurately reflect the quality of the sanding processing, the sanding quality score can accurately detect whether there is an abnormality in the sanding processing of the product, thereby ensuring the efficiency of product detection. When it is determined that there is an abnormality in the sanding processing of the product, by marking the abnormal area on the three-dimensional model after the marking process, the abnormal position can be intuitively displayed, so that the user can quickly locate the abnormality and make corresponding adjustments to the processing parameters or processing methods of the subsequent products. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of a product detection system provided in one embodiment of the present application.

[0022] Figure 2 It is a flow chart of a product detection method provided in one embodiment of the present application.

[0023] Figure 3 It is a schematic diagram of a three-dimensional model provided in one embodiment of the present application.

[0024] Figure 4 It is a schematic diagram of grinding force data provided by an embodiment of the present application.

[0025] Figure 5 It is a schematic diagram of grinding force data provided by another embodiment of the present application.

[0026] Figure 6 It is a schematic diagram of a projection area provided in an embodiment of the present application.

[0027] Figure 7 It is a flow chart of a method for determining the true friction coefficient and the normal force provided in one embodiment of the present application.

[0028] Figure 8 It is a flow chart of a product detection method provided in another embodiment of the present application.

[0029] Fig. 9 2 is a schematic diagram of a first difference region and a second difference region provided in an embodiment of the present application.

[0030] Fig.10 It is a schematic diagram of the area difference and area sum curves of each product after sanding provided in an embodiment of the present application.

[0031] Fig.11 This is a flow chart of a product detection method provided in yet another embodiment of the present application.

[0032] Fig.12 It is a schematic diagram of a data table provided in an embodiment of the present application.

[0033] Fig.13 It is a structural diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0034] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0035] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way. The following embodiments and features in the embodiments may be combined with each other without conflict.

[0036] Embodiments of the present application provide a product detection method, device, system, and medium. The product detection method can be applied to one or more electronic devices.

[0037] Electronic equipment and sanding equipment can form a product inspection system, such as Figure 1 The electronic device 10 may be a server, a computer, a tablet computer, an industrial computer, a mobile phone, etc. The server may be a single server, a server cluster or a cloud server. The application does not limit the type of electronic device.

[0038] exist Figure 1 In the embodiment, the electronic device 10 can be connected to the sanding device 20 for communication via bus, Bluetooth (BT), wireless fidelity (Wi-Fi), etc., and the present application does not limit the communication connection method.

[0039] The sanding device 20 may include a grinding tool and a motor. The motor is used to drive the grinding tool to rotate, and the grinding tool is used to perform sanding processing on the product. The grinding tool may be a grinding wheel, a sanding belt, a paper sanding sheet, etc. The present application does not limit the type of the grinding tool. The sanding device 20 may send the sanding processing data to the electronic device 10 so that the electronic device 10 can implement the product detection method provided in the embodiment of the present application.

[0040] If an abnormality is detected in the sanding process of the product according to the received sanding process data, the electronic device 10 can push the process data to the sanding device or the terminal, wherein the process data can be a compensation value of the target sanding force of the sanding device for sanding the product, etc. The sanding process can be adjusted and optimized through the process data, thereby ensuring the sanding process effect.

[0041] like Figure 2 FIG. 1 is a flowchart of a product detection method provided by an embodiment of the present application. According to different requirements, the order of each step in the flowchart can be adjusted according to actual requirements, and some steps can be omitted. The product detection method is applied to electronic devices, such as Figure 1 The electronic device 10 shown in the figure has a product detection method comprising the following steps: S11, obtaining product specification data and sanding processing data.

[0042] In some embodiments of the present application, the product may be any type of product, and the present application does not limit the type of the product. For example, the product may be a mobile phone case, a watch case, a speaker case, a computer case, a car case, etc.

[0043] In some embodiments of the present application, the specification data may be obtained by the electronic device 1 at the same time as the sanding processing data is obtained, or it may be obtained before or after the sanding processing data is obtained. The specification data of the product may include, but is not limited to: size information, structural shape information, color information, material information. For example, if the product is a metal frame, the size information may include length, width, height, weight, etc., the structural shape information may include the shape of the edge (for example, arc shape), the position of buttons such as the power button and the volume button, the position of interfaces such as the charging port and the headphone jack, and the color information may include the type of color (for example, orange) and the color change effect (for example, gradient, etc.).

[0044] In some embodiments of the present application, the electronic device can obtain the specification data of the product by various methods, and the present application does not limit the method for obtaining the specification data. For example, the electronic device can obtain the specification data by scanning the product, measuring the product, taking a photo, etc.

[0045] In other embodiments, the electronic device can read text data and / or image data in a preset path as specification data, wherein the preset path can be customized.

[0046] The sanding processing data may correspond to a single sanding process or multiple sanding processes. The sanding processing data may include sanding force data. For example, when the sanding processing data corresponds to multiple sanding processes, the sanding processing data may include sanding force data corresponding to each sanding process.

[0047] The grinding force data is data generated when sanding at least one sanding area in the product. The grinding force data includes real grinding force and target grinding force corresponding to multiple time points. The real grinding force is the grinding force value applied to the product by the grinding tool of the sanding equipment during the actual sanding process, where the grinding tool can be a grinding wheel, etc. The target grinding force is the grinding force value expected to be applied to the product, and the target grinding force can be the grinding force value sent to the sanding equipment or set on the sanding equipment before sanding.

[0048] There can be one or more sanding processing areas. In order to ensure the quality of sanding processing, the product can be divided into multiple sanding processing areas so that the sanding processing of the product can be carried out in different areas. For example, if the product is a metal frame, in order to stagger the straight edge, rounded corner or a certain characteristic area of ​​the metal frame. For example, the metal frame can be divided into multiple sanding processing areas, for example, the metal frame can be divided into 9 sanding processing areas, and the positions of the 9 sanding processing areas can be referred to as follows Figure 3 The location of the visualization area of ​​the 3D model.

[0049] The above examples of specification data and sanding processing data are only examples, and are not limited thereto in actual applications. For example, the sanding processing data may also include the speed and feed of the motor in the sanding equipment.

[0050] In some embodiments of the present application, the electronic device is communicatively connected to the sanding device, and the electronic device can receive data generated when the product is sanded and sent from the sanding device, and use the received data as sanding data.

[0051] S12, constructing a three-dimensional model of the product according to the specification data.

[0052] In some embodiments of the present application, the electronic device may construct a three-dimensional model of the product using a modeling algorithm based on specification data.

[0053] The three-dimensional model may include a visualization area corresponding to each sanding processing area. The modeling algorithm includes, but is not limited to, a constraint-based parametric feature modeling method and a style surface modeling method. The modeling method for the three-dimensional model may be implemented using relevant technologies, and the embodiments of the present application do not limit this.

[0054] In other embodiments of the present application, when there are multiple sanding processing areas, the electronic device can determine the index corresponding to each sanding processing area according to the processing order corresponding to the multiple sanding processing areas, and mark the visualization areas corresponding to the multiple sanding processing areas according to the processing order and the index corresponding to each sanding processing area.

[0055] For example, if the product is a metal frame, a 3D model of the metal frame can be constructed based on the specification data of the metal frame. Figure 3 , which is a schematic diagram of a three-dimensional model provided in one embodiment of the present application. Figure 3 The 3D model shown is a 3D model of a metal frame. Figure 3 The 3D model in the product includes 9 visualization areas corresponding to the sanding processing areas in the product. The location of each visualization area can be referred to Figure 3 The indices 0, 1, 2, 3…8 in .

[0056] In this embodiment, by modeling a three-dimensional model of the product and marking the corresponding visualization areas in the three-dimensional model according to the processing order of the sanding processing areas and the indexes corresponding to the sanding processing areas, a digital twin of the product and the processing process can be created.

[0057] S13, determining a sanding quality score of the product based on the sanding processing data.

[0058] In some embodiments of the present application, the sanding process performed on each sanding process area may be a single time or multiple times. The sanding force data in the sanding process data may be in the form of a signal. For example, following the above embodiment, if the product includes 9 sanding process areas, the number of sanding processes for each sanding process area is 5 times, such as Figure 4 As shown in FIG. 1 , it is a schematic diagram of grinding force data provided by an embodiment of the present application. Figure 5 , which is a schematic diagram of grinding force data provided by another embodiment of the present application.

[0059] Figure 4 The indicated grinding force data correspond to a single sanding operation. Figure 5 The indicated sanding force data correspond to multiple sanding operations. Figure 4 The grinding force data shown indicates the signal segment corresponding to each sanding processing area. The signal segment corresponding to each sanding processing area can be referred to Figure 4The signal ranges corresponding to the areas 0, 1, ... 8 are shown in the figure. When sanding a product, you can use Figure 3 The indexes of the visualization areas shown in the figure correspond to the arrangement order. The nine sanding processing areas are sanded in sequence. The processing paths of the nine sanding processing areas can form a closed loop. Therefore, Figure 5 The signal segments corresponding to circles 1, 2, ... 5 in the figure represent the grinding force data obtained by sanding the product once. The signal segments corresponding to circles 1, 2, ... 5 can be referred to Figure 5 The signal is divided by dashed lines. Figure 4 and Figure 5 In the figure, the horizontal axis can represent the time point, and the vertical axis can represent the grinding force data. Figure 4 and Figure 5 The grinding force data shown may be the actual grinding force.

[0060] In other embodiments of the present application, the electronic device can detect the grinding force data, and when it is detected that the change value between the continuous grinding force data is greater than or equal to the first configuration value, the electronic device can mark the continuous grinding force data in the grinding force data, wherein the first configuration value can be customized, and the present application does not limit this. For example, the electronic device can use a rectangular frame, a circle, etc. to mark the transformation of the continuous grinding force data greater than or equal to the first configuration value to the corresponding continuous grinding force data in the grinding force data.

[0061] In some embodiments of the present application, if the sanding processing data includes sanding force data corresponding to a single sanding processing, step S13 includes: S131a: Based on the real grinding forces corresponding to the multiple time points, determine the real friction coefficient between the at least one sanding process area and the grinding tool and the normal force applied by the grinding tool to the at least one sanding process area at each time point.

[0062] S132a: Calculate the real friction force at each time point according to the real friction coefficient and the normal force corresponding to each time point.

[0063] S133a: Calculate the target friction force at each time point according to the standard friction coefficient and the target grinding force corresponding to each time point.

[0064] S134a: Determine the sanding quality score corresponding to each time point according to the actual friction force and the target friction force at each time point.

[0065] The method for determining the real friction coefficient and the positive force corresponding to each time point will be described in detail below. For example, the electronic device can determine the product of the real friction coefficient and the positive force corresponding to each time point as the real friction force at each time point, or the electronic device can determine the product of the first preset weight, the real friction coefficient and the positive force corresponding to each time point as the real friction force at each time point. The first preset weight can be customized, and this application does not limit this.

[0066] The standard friction coefficient can be customized, or the standard friction coefficient can be determined by the production data of the abrasive tool. The electronic device can determine the product of the standard friction coefficient and the target grinding force corresponding to each time point as the target friction force at each time point, or the electronic device can determine the product of the second preset weight, the standard friction coefficient and the target grinding force corresponding to each time point as the target friction force at each time point. The second preset weight can be customized, and this application does not limit this.

[0067] Each time point has a corresponding sanding quality score, and the electronic device can determine the difference or weighted difference between the actual friction force and the target friction force at each time point as the sanding quality score corresponding to each time point.

[0068] In this embodiment, the difference or weighted difference between the actual friction force and the target friction force at each time point can reflect the gap between the sanding processing effect and the expected effect. Therefore, the difference or weighted difference between the actual friction force and the target friction force at each time point is determined as the sanding quality score corresponding to each time point, so that the sanding quality score can accurately reflect the sanding processing quality, thereby realizing the quantification of the sanding processing quality.

[0069] In other embodiments of the present application, if the sanding processing data includes sanding force data corresponding to multiple sanding processes, S13 determines the sanding quality score of the product based on the sanding processing data, including: S131b, based on the real grinding forces corresponding to the multiple time points, determining the real friction coefficient between the at least one sanding area and the grinding tool in each sanding process and the normal force applied by the grinding tool to the at least one sanding area at each time point.

[0070] S132b, calculating the real friction force at each time point in each sanding process according to the real friction coefficient and the normal force corresponding to each time point in each sanding process.

[0071] S133b, calculating the target friction force at each time point in each sanding process according to the standard friction coefficient and the target grinding force corresponding to each time point in each sanding process.

[0072] S134b, determining an initial quality score corresponding to each time point in each sanding process according to the actual friction force and the target friction force at each time point in each sanding process.

[0073] S135b, calculating the sanding quality score at each time point according to the multiple initial quality scores corresponding to each time point in the multiple sanding processes.

[0074] The method for determining the initial quality score corresponding to each time point may refer to the above description of the method for determining the sanding quality score corresponding to each time point, and the present application will not repeat the description.

[0075] For example, the electronic device may determine the average value or weighted average value of multiple initial quality scores corresponding to each time point in multiple sanding processes as the sanding quality score at each time point.

[0076] In this embodiment, the average value or weighted average value between the multiple initial quality scores corresponding to each time point in the multiple sanding processes can reflect the overall situation of the sanding process effect. Therefore, by determining the average value or weighted average value between the multiple initial quality scores corresponding to each time point in the multiple sanding processes as the sanding quality score at each time point, the reliability of the sanding quality score can be ensured.

[0077] Considering the differences in sampling frequency, sampling duration and other factors, the length of the actual grinding force data and the target grinding force data may be different, resulting in different numbers of initial quality scores of a certain sanding process in multiple sanding processes, resulting in inaccurate sanding quality scores. In order to align the number of initial quality scores between multiple sanding processes of a product, in some embodiments of the present application, step S13 determines the sanding quality score of the product based on the sanding process data and further includes: S1341b, counting the number of initial quality scores corresponding to each sanding process.

[0078] Specifically, if a product is sanded for 5 rounds, the total number of initial quality scores of all sanded areas at all time points when each round of sanding is performed on the product is counted.

[0079] S1342b, determining whether there are different numbers of initial quality scores corresponding to each sanding process.

[0080] Specifically, the electronic device determines whether the number of initial quality scores formed by each round of sanding is the same during the five rounds of sanding.

[0081] S1343b: If the numbers of all initial quality scores for each sanding process are different, the largest number of initial quality scores corresponding to a single sanding process is used as the target number value.

[0082] Specifically, among the five circles of sanding, the number of initial quality scores formed during one or two circles of sanding is different from the number of initial quality scores formed during other circles of sanding. At this time, it is determined which circle of sanding among the five circles of sanding has the largest number of initial quality scores formed; the largest number of initial quality scores formed by a single circle of sanding is determined as the target number value.

[0083] S1344b, performing interpolation processing on the other initial quality scores except the initial quality score corresponding to the target quantity value according to the target quantity value, so that the multiple sanding processes correspond to the same number of initial quality scores.

[0084] Specifically, the electronic device performs interpolation processing on the initial quality scores formed by the single-circle sanding process if the number of the initial quality scores does not reach the target number value.

[0085] Among them, the electronic device can perform interpolation through various methods, and this application does not limit the interpolation method.

[0086] For example, the electronic device can calculate the interpolation coefficient based on the initial quality score and target quantity value corresponding to each sanding process using an interpolation algorithm, predict the missing initial quality score based on the interpolation coefficient, and associate the predicted initial quality score with the corresponding time point so that the number of other initial quality scores matches the target quantity value, so that each sanding process corresponds to the same number of initial quality scores. Among them, the interpolation algorithm includes but is not limited to: linear interpolation algorithm, spline interpolation algorithm, nearest neighbor interpolation algorithm and polynomial interpolation algorithm. The prediction method of the missing initial quality score can refer to the relevant technology.

[0087] In this embodiment, based on the target quantity value, the electronic device can interpolate other initial quality scores except the initial quality score corresponding to the target quantity value, so that multiple sanding processes correspond to the same number of initial quality scores, thereby ensuring the accuracy of the sanding quality score.

[0088] In other embodiments of the present application, the electronic device may interpolate / scale the actual grinding force data or the target grinding force data so that the length of the actual grinding force data is aligned with the length of the target grinding force data, thereby making multiple sanding processes correspond to the same number of initial quality scores.

[0089] The interpolation / scaling of the real grinding force data or the target grinding force data may refer to the description of the above method for interpolating the other initial quality scores, which will not be described repeatedly in this application.

[0090] S14, obtaining a corresponding first preset mark based on the sanding quality score, and performing a marking process on the three-dimensional model.

[0091] In some embodiments of the present application, the first preset mark may be a visual element such as color, text, icon, or combination thereof. For example, each sanding quality score may have a corresponding color, and different sanding quality scores may have different corresponding colors.

[0092] In some embodiments of the present application, the electronic device marks the three-dimensional model based on the first preset mark corresponding to the sanding quality score, including: determining the visualization area corresponding to the at least one sanding processing area in the three-dimensional model, and marking the visualization area according to the first preset mark corresponding to the sanding quality score corresponding to each time point.

[0093] In such Figure 3 In the three-dimensional model shown, in each visualization area, different shades of color correspond to different sanding quality scores. For example, the greater the sanding quality score, the darker or lighter the corresponding color in the visualization area.

[0094] In this embodiment, the corresponding visualization in the three-dimensional model is marked using a first preset mark such as color, so that visualization of the sanding effect can be achieved.

[0095] S15, determining whether there is an abnormality in the sanding process of the product based on the sanding quality score.

[0096] In some embodiments of the present application, the electronic device can determine whether the sanding process of the product is abnormal based on the comparison between the sanding quality score and the preset threshold range. The preset threshold range can be customized and the present application does not limit this.

[0097] For example, when the number of sanding quality scores outside the preset threshold range is greater than or equal to the preset number, the electronic device can determine that the sanding process of the product is abnormal, and when the number of sanding quality scores outside the preset threshold range is less than the preset number, the electronic device can determine that the sanding process of the product is normal. The preset number can be customized, and this application does not limit this. For example, the preset number can be 1, 2, or 3.

[0098] In this embodiment, since the sanding processing data can reflect the actual sanding force, target sanding force and other parameters in the sanding processing process, the sanding quality score can be accurately determined through the sanding processing data. Since the sanding quality score can accurately reflect the sanding processing quality, the sanding quality score can accurately detect whether there is any abnormality in the sanding processing of the product, thereby ensuring the efficiency of product detection.

[0099] S16, based on the abnormality in the sanding process of the product, the abnormal area is identified in the three-dimensional model after the marking process.

[0100] In some embodiments of the present application, S16 identifies the abnormal area in the three-dimensional model after the marking process based on the abnormality of the sanding process of the product, including: S161, projecting the marked visualization area onto a preset plane to obtain a projection area.

[0101] S162, determining that the sanding quality score outside the preset threshold range is an abnormal quality score.

[0102] S163, determining an abnormal area in the projection area and / or the marked visualization area according to the abnormal quality score, and selecting the abnormal area in the projection area and / or the marked visualization area.

[0103] The preset plane may be a two-dimensional plane. In the actual sanding process, the processing position in each sanding processing area of ​​the product has a corresponding time point, so the projection area and / or the marked visualization area corresponding to each sanding processing area has a corresponding time point, and the abnormal area may be an area composed of processing positions corresponding to time points corresponding to multiple abnormal quality scores in the projection area and / or the marked visualization area.

[0104] like Figure 6 As shown, following the above embodiment, if the three-dimensional model includes 9 visualization areas, it is a schematic diagram of the projection area provided by an embodiment of the present application. The projection area corresponding to each visualization area in the 9 visualization areas can be referred to Figure 6 In the area 0, area 1, ... area 8 marked in the figure, the color mark of each projection area matches the corresponding visualization color mark, and the shape of each projection area is a rectangle. Figure 6 In the figure, two abnormal regions are selected in the projection area.

[0105] In some embodiments of the present application, if the product is sanded multiple times, the sanding quality score corresponding to each sanding process can be calculated according to the sanding data corresponding to each sanding process, and the visualization area can be marked according to the sanding quality score calculated each time, so when the product is sanded multiple times, multiple images such as Figure 6For example, when the number of times of sanding the product is 5 times, 5 images such as Figure 6 The area map consisting of the visualization area and the projection area shown.

[0106] Considering that the projection area is a two-dimensional expansion of the visualization area, the projection area is more intuitive than the visualization area. Therefore, in this embodiment, the abnormal area is framed from the projection area so that the user can locate the abnormality more quickly and accurately. When it is determined that there is an abnormality in the sanding process of the product, the abnormal position can be intuitively displayed by framing the abnormal area on the marked three-dimensional model, so that the user can quickly locate the abnormality.

[0107] In other embodiments of the present application, the product detection method further includes: S17, a preset model may be used to determine a grinding force deviation between a real grinding force corresponding to the abnormal quality score and a target grinding force.

[0108] S18, based on the grinding force deviation, a preset model is used to calculate a compensation value of a target grinding force corresponding to the abnormal quality score, and the compensation value is used to perform sanding processing on the next product.

[0109] The grinding force deviation may be the difference between the actual grinding force and the corresponding target grinding force. The preset model may be a proportional-integral-derivative (PID) controller. The method for calculating the compensation value using the PID control algorithm may refer to the construction method of the transfer function in the related art.

[0110] In this embodiment, the compensation value for the target grinding force is calculated by the grinding force deviation between the real grinding force and the target grinding force, so that the sanding process of the sanding equipment can be feedback-adjusted to improve the sanding process effect.

[0111] In the product detection method provided in the present embodiment, since the specification data of the product can reflect the characteristics of the product such as size, shape and structure, the three-dimensional model of the product can be accurately constructed according to the specification data. Since the sanding processing data can reflect the parameters such as the real grinding force and the target grinding force in the sanding processing process, the sanding quality score can be accurately determined through the sanding processing data, so that the sanding quality score can accurately reflect the quality of the sanding processing. By marking the three-dimensional model with the first preset mark corresponding to the sanding quality score, the sanding effect can be displayed intuitively. Since the sanding quality score can accurately reflect the quality of the sanding processing, the sanding quality score can be used to accurately detect whether there is an abnormality in the sanding processing of the product, thereby ensuring the efficiency of product detection. When it is determined that there is an abnormality in the sanding processing of the product, by marking the abnormal area on the three-dimensional model after the marking process, the abnormal position can be intuitively displayed, so that the user can quickly locate the abnormality.

[0112] like Figure 7 , which is a flow chart of a method for determining a real friction coefficient and a normal force provided by an embodiment of the present application. S131b The step of determining the real friction coefficient between the at least one sanding processing area and the abrasive tool in each sanding processing and the normal force applied by the abrasive tool to the at least one sanding processing area at each time point based on the real grinding forces corresponding to the multiple time points includes: S1311, performing frequency domain transformation on the real polishing force corresponding to multiple time points to obtain frequency spectrum data.

[0113] In some embodiments of the present application, the electronic device may perform frequency domain transformation on the polishing force data using a variety of methods. For example, the electronic device may perform Fourier transformation on the real polishing force corresponding to multiple time points to obtain frequency spectrum data.

[0114] S1312, determining the amplitude corresponding to each frequency within a preset frequency range in the spectrum data.

[0115] In some embodiments of the present application, the preset frequency range can be customized, and the present application does not impose any limitation on this.

[0116] S1313: Calculate the energy corresponding to each frequency according to the amplitude corresponding to each frequency.

[0117] The electronic device may use the square of the amplitude corresponding to each frequency as the energy corresponding to each frequency.

[0118] S1314, determining a true friction coefficient according to energies corresponding to multiple frequencies within a preset frequency range.

[0119] In some embodiments of the present application, the preset frequency range can be customized, and the present application does not impose any limitation on this.

[0120] Considering that the high-frequency rotation or vibration of the motor and the mold in the sanding equipment has a greater impact on the sanding process than the low-frequency rotation of the motor and the mold, the high-frequency components in the spectrum data have a greater impact on the sanding process than the low-frequency components in the spectrum data. In order to select the components that have a greater impact on the sanding process from the spectrum data, the preset frequency range can be set higher.

[0121] In some embodiments of the present application, the electronic device may use the mean or weighted average of the energies corresponding to all frequencies within a preset frequency range as the true friction coefficient.

[0122] In this embodiment, by setting the preset frequency range higher and taking the mean or weighted average of the energy corresponding to all frequencies within the preset frequency range as the true friction coefficient, the true friction coefficient can reflect the influence of high-frequency rotation or vibration of the motor and the mold on the sanding process, thereby ensuring the reliability of the true friction coefficient.

[0123] S1315, filtering the real grinding force corresponding to each time point to obtain the normal force corresponding to each time point.

[0124] In some embodiments of the present application, the filtering process performed on the real grinding force may be low-frequency filtering. The electronic device performs low-frequency filtering on the real grinding force at each time point to obtain the low-frequency component of the real grinding force, and the electronic device may use the low-frequency component as the positive force.

[0125] Considering that compared with high-frequency components, low-frequency components can better reflect the contact state and contact force between the abrasive tool and the product during the sanding process, in this embodiment, low-frequency filtering is performed on the real grinding force to remove interference from factors such as noise, high-frequency vibration / rotation and cumulative errors, thereby ensuring the accuracy of the positive force.

[0126] like Figure 8 FIG. 1 is a flowchart of a product detection method provided by another embodiment of the present application. The product detection method further includes: S21, determining a first curve formed by the actual grinding force corresponding to each time point, and a second curve formed by the target grinding force formed at each time point.

[0127] In some embodiments of the present application, since each time point has a corresponding real grinding force and target grinding force during each round of sanding, the first curve and the second curve may have the same starting point and end point. The first curve and the second curve may share a coordinate axis so that the user can intuitively compare the first curve and the second curve.

[0128] S22, determining a first difference area and a second difference area corresponding to each sanding processing area formed by the first curve and the second curve.

[0129] In some embodiments of the present application, the first difference area is a sanding area of ​​a single product where the actual grinding force at each time point is less than the corresponding target grinding force, and the second difference area is a sanding area of ​​a single product where the actual grinding force at each time point is greater than the corresponding target grinding force. S23, visually identifying the first difference area and the second difference area corresponding to each of the sanding areas.

[0130] For example, Fig. 9 , which is a schematic diagram of the first difference area and the second difference area presented by 9 sanding processing areas after one round of sanding processing provided by an embodiment of the present application. Fig. 9 In the figure, the horizontal axis can represent the time point, and the vertical axis can represent the actual grinding force and the target grinding force. Fig. 9 In the figure, the curve represented by pink is the first curve, and the curve represented by blue is the second curve. The first difference area of ​​each sanding area of ​​the product is marked as a pink area, and the second difference area of ​​each sanding area of ​​the product can be marked as a green area. Fig. 9 The first difference area and the second difference area indicated in the figure are only examples. The type of visual identification can be identified according to the requirements, for example, the first difference area can be identified in blue, and the second difference area can be identified in red.

[0131] In this embodiment, both the first difference area and the second difference area can reflect the difference between the actual grinding force and the corresponding target grinding force.

[0132] In another embodiment of the present application, the product detection method further includes: S24, calculating a first total area of ​​all the first difference areas and a second total area of ​​all the second difference areas based on the first difference areas and the second difference areas corresponding to each of the sanding processing areas of the product.

[0133] Specifically, if the product is sanded for only one round, the first difference of each sanded area is calculated after the sanding for this round to obtain the first total area, and the second difference of each sanded area is calculated to obtain the second total area. If the product is sanded for multiple rounds, after calculating the first total area and the second total area of ​​each round, the first total area and the second total area of ​​each round are further summed up to obtain the first total area and the second total area of ​​the overall sanding of each product.

[0134] S25, calculating the area difference and area sum between the first total area and the second total area to visualize the area difference and area sum of each product.

[0135] Fig.10This is a schematic diagram of the area difference and area sum curves of each product after sanding, provided in one embodiment of the present application. In the actual sanding process, the sanding equipment may be processing multiple products in parallel, so the sanding processing data of multiple products can be obtained. Based on the detection of the sanding processing data of multiple products, the area sum and area difference corresponding to the multiple products can be obtained, such as Fig.10 As shown, the electronic device can generate a third curve (blue curve) according to the area sum values ​​corresponding to multiple products and generate a fourth curve (red curve) according to the area difference values ​​corresponding to multiple products, thereby realizing the visualization of the area sum value (total_area) and the area difference value (area_difference). Among them, the third curve and the fourth curve can share a coordinate axis so that the user can intuitively compare the third curve and the fourth curve. The horizontal axis in the coordinate axis can represent the product number or serial number, the vertical axis can be a specific value representing the area sum value and the area difference value, and the green line represents the reference baseline of the area sum value and the area difference value of multiple products.

[0136] In this embodiment, both the first difference area and the second difference area can reflect the gap between the actual grinding force and the corresponding target grinding force. By calculating the first total area of ​​all first difference areas and the second total area of ​​all second difference areas, as well as the area difference and area sum between the first total area and the second total area, the gap between the actual sanding effect and the expected sanding effect can be quantified, so that users can optimize sanding parameters.

[0137] In other embodiments of the present application, when it is detected that the difference between the area sum value of the third curve and the corresponding area difference value on the fourth curve is greater than the second configuration value, the electronic device can identify the area sum value from the third curve and the area difference value from the fourth curve. For example, the electronic device can use a rectangular frame, a circle, etc. to mark the area sum value from the third curve and the area difference value from the fourth curve. For example, you can refer to Fig.10 The circle represented by the dotted line shows the sum and difference of the enclosed area.

[0138] like Fig.11 FIG. 1 is a flowchart of a product detection method provided by another embodiment of the present application. The product detection method further includes: S31, calculating a sanding quality index of at least one sanding area according to the actual sanding force and the target sanding force corresponding to the at least one sanding area, and / or the first difference area and the second difference area.

[0139] Exemplarily, the electronic device may use the standard deviation between the actual sanding force of any sanding processing area and the corresponding target sanding force as the sanding quality indicator of the any sanding processing area.

[0140] Exemplarily, the electronic device may determine the real grinding force of any sanding processing area that is greater than the corresponding target grinding force, and count the sum of all real grinding forces greater than the corresponding target grinding force as the sanding quality indicator of the sanding processing area.

[0141] Exemplarily, the electronic device may determine all real grinding forces in any sanding processing area that are smaller than the corresponding target grinding force, and count the sum of all real grinding forces that are smaller than the corresponding target grinding force as the sanding quality indicator of the sanding processing area.

[0142] For example, the electronic device can perform weighted summation on the area of ​​the determined first difference area and the area of ​​the determined second difference area with the corresponding first difference area and second difference area in any one or more sanding processing areas to obtain a weighted sum area, and use the weighted sum area to represent the sanding quality index of any sanding processing area. The first difference area and the second difference area can refer to the description of the above step S22.

[0143] Exemplarily, the electronic device can perform weighted difference between the area of ​​the determined first difference area and the area of ​​the determined second difference area corresponding to the first difference area and the second difference area in any sanding processing area to obtain a weighted difference area, and determine the weighted difference area as the sanding quality index of any sanding processing area.

[0144] The above examples of sanding quality indicators are only examples and are not limited to them in practical applications.

[0145] In this embodiment, multiple types of sanding quality indicators of the sanding processing area can be determined through the actual sanding force and the target sanding force corresponding to the sanding processing area, and / or the first difference area and the second difference area, so that it can be determined in multiple dimensions whether the sanding processing quality is abnormal.

[0146] S32, generating a data table according to the sanding quality index.

[0147] In some embodiments of the present application, if the sanding processing area is single, the electronic device can generate a data table based on the same type of sanding quality indicators of the sanding processing area in each sanding processing, and when the sanding quality indicators are of multiple categories, multiple data tables can be obtained; if there are multiple sanding processing areas, the electronic device can generate a data table based on the same type of sanding quality indicators of multiple sanding processing areas in each sanding processing, and when the sanding quality indicators are of multiple categories, multiple data tables can be obtained.

[0148] S33, if the sanding quality index in the data table includes an abnormal quality index greater than a preset value, the abnormal quality index is marked in the data table using a second preset mark.

[0149] The preset value can be customized, and this application does not limit this. When there are multiple data tables, the data table corresponding to each type of sanding quality index can have a corresponding preset value, and all data in the data table can be uniformly judged according to the preset value.

[0150] The present application does not limit the type of the second preset mark. For example, the second preset mark can be a color such as red, blue, or a graphic such as a dotted circle or a square.

[0151] like Fig.12 , which is a schematic diagram of a data table provided in an embodiment of the present application. Fig.12 The data table shown includes sanding quality indicators for 9 sanding areas in 5 sanding passes, among which Fig.12 In the embodiment, the sanding index corresponding to each sanding processing area can be the weighted sum area corresponding to the sanding processing area. In each sanding processing, each sanding processing area has a corresponding weighted sum area. Fig.12 The weighted sum area marked in red is the abnormal weighted sum area.

[0152] In this embodiment, the abnormal quality indicator is marked with a second preset mark such as color, so that the user can quickly locate the abnormal quality indicator.

[0153] like Fig.13 As shown in FIG. 1 , it is a structural diagram of an electronic device provided by an embodiment of the present application. Fig.13 As shown, the electronic device 10 may include a communication module 101, a memory 102, a processor 103, an input / output (I / O) interface 104 and a bus 105. The processor 103 is coupled to the communication module 101, the memory 102, and the input / output interface 104 through the bus 105.

[0154] The communication module 101 may include a wired communication module and / or a wireless communication module. The wired communication module may provide one or more wired communication solutions such as universal serial bus (USB), controller area network bus (CAN, Controller Area Network). The wireless communication module may provide one or more wireless communication solutions such as wireless fidelity, Bluetooth, mobile communication network, frequency modulation (FM), near field communication technology (NFC), infrared technology (IR), etc.

[0155] The memory 102 may include one or more random access memories (RAM) and one or more non-volatile memories (NVM). The random access memory can be directly read and written by the processor 103, and can be used to store executable programs (such as machine instructions) of other running programs, and can also be used to store user and application data. The random access memory may include static random-access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc.

[0156] The non-volatile memory may also store executable programs and user and application data, etc., and may be loaded into the random access memory in advance for direct reading and writing by the processor 103. The non-volatile memory may include a disk storage device and a flash memory.

[0157] The memory 102 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 103. The one or more computer programs include multiple instructions. When the multiple instructions are executed by the processor 103, the product detection method executed on the electronic device 10 can be implemented.

[0158] In other embodiments, Fig.13 The electronic device 10 shown also includes an external memory interface for connecting to an external memory to expand the storage capacity of the electronic device 10 .

[0159] The processor 103 may include one or more processing units, for example, the processor 103 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0160] The processor 103 provides computing and control capabilities. For example, the processor 103 is used to execute a computer program stored in the memory 102 to implement the above-mentioned product detection method.

[0161] The input / output interface 104 is used to provide a channel for user input or output. For example, the input / output interface 104 can be used to connect various input and output devices, such as a mouse, keyboard, touch device, display screen, etc., so that the user can enter information or visualize information.

[0162] The bus 105 is at least used to provide a channel for mutual communication among the communication module 101 , the memory 102 , the processor 103 , and the input / output interface 104 in the electronic device 10 .

[0163] It is to be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the electronic device 10. In other embodiments of the present application, the electronic device 10 may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0164] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions. The method implemented when the program instructions are executed can refer to the methods in the above-mentioned embodiments of the present application.

[0165] The computer-readable storage medium may be an internal memory of the electronic device described in the above embodiment, such as a hard disk or memory of the electronic device. The computer-readable storage medium may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device.

[0166] In some embodiments, the computer-readable storage medium may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created according to the use of the electronic device, etc.

[0167] It is to be understood that the structure illustrated in the embodiments of the present application does not constitute a specific limitation on the electronic device. In other embodiments of the present application, the electronic device may include more or fewer components than shown in the figure, or combine certain components, or split certain components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0168] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation.

[0169] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0170] In addition, each functional module in each embodiment of the present application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0171] Therefore, no matter from which point of view, the embodiments should be regarded as illustrative and non-restrictive, and the scope of the present application is limited by the appended claims rather than the above description, so it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present application. Any attached figure mark in the claims should not be regarded as limiting the claims involved.

[0172] In addition, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in this application can also be implemented by one unit or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0173] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the preferred embodiments, a person of ordinary skill in the art should understand that the technical solution of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application.

Claims

1. A product detection method, characterized in that: The method comprises: Get the sanding processing data of the product; Determining a sanding quality score of the product based on the sanding processing data; Acquire a corresponding first preset mark based on the sanding quality score, and perform marking processing on the three-dimensional model of the product; Determining whether there is an abnormality in the sanding process of the product based on the sanding quality score; Based on the abnormality in the sanding process of the product, the abnormal area is identified in the three-dimensional model after the marking process.

2. The product detection method according to claim 1, characterized in that: Also includes: Obtaining specification data of the product; A three-dimensional model of the product is constructed according to the specification data.

3. The product detection method according to claim 1, characterized in that: The sanding processing data includes sanding force data corresponding to a single sanding process, the sanding force data is data generated when processing at least one sanding processing area in the product, the sanding force data includes real sanding forces and target sanding forces corresponding to multiple time points one by one, and the determination of the sanding quality score of the product based on the sanding processing data includes: Determining, based on the real grinding forces corresponding to the multiple time points, a real friction coefficient between the at least one sanding area and the grinding tool and a normal force applied by the grinding tool to the at least one sanding area at each time point; Calculating the real friction force at each time point according to the real friction coefficient and the normal force corresponding to each time point; Calculating the target friction force at each time point according to the standard friction coefficient and the target grinding force corresponding to each time point; According to the actual friction force and the target friction force at each time point, the sanding quality score corresponding to each time point is determined.

4. The product detection method according to claim 1, characterized in that: The sanding processing data includes sanding force data corresponding to multiple sanding processes on the product, the sanding force data corresponding to each sanding process is data generated when processing at least one sanding process area in the product, and the sanding force data corresponding to each sanding process includes real sanding forces and target sanding forces corresponding to multiple time points one by one. The determination of the sanding quality score of the product based on the sanding processing data includes: Based on the real grinding forces corresponding to the multiple time points, determining the real friction coefficient between the at least one sanding area and the abrasive tool in each sanding process and the normal force applied by the abrasive tool to the at least one sanding area at each time point; Calculating the real friction force at each time point in each sanding process according to the real friction coefficient and the normal force corresponding to each time point in each sanding process; Calculating the target friction force at each time point in each sanding process according to the standard friction coefficient and the target grinding force corresponding to each time point in each sanding process; Determine the initial quality score corresponding to each time point in each sanding process according to the actual friction force and the target friction force at each time point in each sanding process; According to a plurality of initial quality scores corresponding to each time point in the multiple sanding processes of the product, the sanding quality score at each time point is calculated.

5. The product detection method according to claim 4, characterized in that: Determining the sanding quality score of the product based on the sanding processing data further includes: Counting the number of initial quality scores corresponding to each sanding process; Determine whether the number of initial quality scores corresponding to each sanding process is different; If the number of initial quality scores corresponding to each sanding process is different, the largest number of initial quality scores corresponding to a single sanding process is taken as the target number value; According to the target quantity value, other initial quality scores except the initial quality score corresponding to the target quantity value are interpolated, so that the multiple sanding processes correspond to the same number of initial quality scores.

6. The product detection method according to claim 3 or 5, characterized in that: The step of determining the real friction coefficient between the at least one sanding area and the abrasive tool and the normal force applied by the abrasive tool to the at least one sanding area at each time point based on the real sanding forces corresponding to the multiple time points comprises: Performing frequency domain transformation on the real polishing forces corresponding to the multiple time points to obtain spectrum data; Determine the amplitude corresponding to each frequency within a preset frequency range in the spectrum data; Calculating the energy corresponding to each frequency according to the amplitude corresponding to each frequency; Determining the true friction coefficient according to the energy corresponding to the plurality of frequencies within the preset frequency range; The real grinding force corresponding to each time point is filtered to obtain the positive force corresponding to each time point.

7. The product detection method according to claim 3 or 5, characterized in that: The method further comprises: Determine a first curve consisting of the actual grinding force corresponding to each time point, and a second curve consisting of the target grinding force corresponding to each time point; Determine a first difference area and a second difference area corresponding to each of the sanding processing areas formed by the first curve and the second curve, wherein the first difference area is when the actual grinding force of the sanding processing area of ​​the product is less than the corresponding target grinding force at each time point, and the second difference area is when the actual grinding force of the sanding processing area of ​​the product is greater than the corresponding target grinding force at each time point; The first difference area and the second difference area corresponding to each of the sanding processing areas are visually identified.

8. The product detection method according to claim 7, characterized in that: The method further comprises: calculating a first total area of ​​all first difference areas and a second total area of ​​all second difference areas of the product based on the first difference area and the second difference area corresponding to each sanding process area of ​​the product; An area difference value and an area sum value between the first total area and the second total area are calculated to visualize the area difference value and the area sum value.

9. The product detection method according to claim 7, characterized in that: The method further comprises: Calculate a sanding quality index of the at least one sanding area according to the actual sanding force and the target sanding force corresponding to the at least one sanding area, and / or the first difference area and the second difference area; Generate a data table according to the sanding quality index; If the sanding quality indicators in the data table include an abnormal quality indicator that is greater than a preset value, the abnormal quality indicator is marked in the data table using a second preset mark.

10. The product detection method according to claim 3 or 5, characterized in that: The marking process of the three-dimensional model based on the first preset mark corresponding to the sanding quality score includes: Determine a visualization area corresponding to the at least one sanding area in the three-dimensional model; The visualization area is marked according to the first preset mark corresponding to the sanding quality score corresponding to each time point.

11. The product detection method according to claim 9, characterized in that: The sanding process of the product is abnormal, and the abnormal area is marked in the three-dimensional model after the marking process, including: Project the marked visualization area onto a preset plane to obtain a projection area; Determining the sanding quality score outside a preset threshold range as an abnormal quality score; Determining an abnormal area in the projection area and / or the marked visualization area according to the abnormal quality score; The abnormal area is framed in the projection area and / or the marked visualization area.

12. The product detection method according to claim 11, characterized in that: The method further comprises: determining a grinding force deviation between a real grinding force corresponding to the abnormal quality score and a target grinding force; Based on the grinding force deviation, a preset model is used to calculate a compensation value of a target grinding force corresponding to the abnormal quality score, so as to perform sanding processing on the next product.

13. The product detection method according to claim 10, characterized in that: There are multiple sanding processing areas, and the method further includes: Determine the index corresponding to each sanding processing area according to the processing order corresponding to the plurality of sanding processing areas; According to the processing sequence and the index corresponding to each sanding processing area, the visualization areas corresponding to the multiple sanding processing areas are marked.

14. An electronic device, characterized in that: The electronic device comprises: a memory storing at least one instruction; and A processor executes the at least one instruction to implement the product detection method according to any one of claims 1 to 13.

15. A product detection system, characterized in that: include: A sanding device, used for performing sanding processing on the product to generate the sanding processing data; The electronic device described in claim 14 is used to push processing data to the sanding equipment based on the existence of abnormality in the sanding processing of the product.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one instruction, and the at least one instruction is executed by a processor in an electronic device to implement the product detection method according to any one of claims 1 to 13.

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