Sanding machine parameter adjusting system based on surface detection

Abstract

The invention discloses a sueding machine parameter adjusting system based on surface detection, and relates to the technical field of sueding machine control. The system comprises a distance detection module which is used for carrying out distance measurement sensing according to an ultrasonic sensing module and outputting a real-time distance measurement signal; the pressure detection module is used for performing pressure sensing according to the pressure sensing module and outputting a real-time pressure signal; the feature recognition module is used for performing feature recognition according to the real-time ranging signal and the real-time pressure signal, outputting a signal feature set, inputting the signal feature set into a foreign matter recognition model for recognition, and outputting foreign matter recognition parameters; and the feedback adjustment module is used for feeding back the foreign matter identification parameters to a servo control unit of the sueding machine equipment for feedback adjustment, and outputting servo adjustment parameters. The technical problem that in the prior art, the sanding stability and efficiency of the sanding machine are reduced due to the fact that ball-shaped batting is generated when the sanding head works is solved, and the technical effects that the influence of the ball-shaped batting on the sanding machine is reduced, and the sanding stability and efficiency of the sanding machine are improved are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of suede sanding machine control, and in particular to a suede sanding machine parameter adjustment system based on surface detection. Background Art

[0002] In modern industrial production, a suede sander is a common industrial equipment used to process and treat the surface of materials to improve the surface quality, increase the surface roughness or add a specific texture to the surface. The working principle of a suede sander is usually to process the surface by bringing the abrasive tool into contact with the surface of the material being processed through friction or scraping. In the prior art, when the suede sander is working, clumps or strips of hair will appear on the surface being ground, especially in the coarse grinding stage, and even in the fine grinding process. When clumps of hair are produced, the stability and efficiency of the suede sander's sanding process will be reduced. Summary of the invention

[0003] The embodiment of the present application provides a parameter adjustment system for a sanding machine based on surface detection, which solves the technical problem in the prior art that when the sanding head is working, clumps of hair are generated, resulting in reduced stability and efficiency of the sanding machine.

[0004] In view of the above problems, an embodiment of the present application provides a sanding machine parameter adjustment system based on surface detection.

[0005] The embodiment of the present application provides a parameter adjustment system for a suede sanding machine based on surface detection, the system comprising: An ultrasonic sensor module is provided, wherein the ultrasonic sensor module includes a distance measuring sensor and is provided on a sanding head of the sanding machine equipment; The distance detection module is used to perform distance sensing according to the ultrasonic sensor module when the shaving machine is in operation, and output a real-time distance measurement signal, wherein the real-time distance measurement signal is a distance detection signal of the overlap distance between the shaving head and the surface of the material being shaving; A pressure sensing module is provided, wherein the pressure sensing module includes a pressure sensor and is provided on the sanding head of the sanding machine device; The pressure detection module is used to perform pressure sensing according to the pressure sensing module when the shaving machine equipment is in operation, and output a real-time pressure signal, wherein the real-time pressure signal is a pressure detection signal of the overlap distance between the shaving head and the surface of the material being shaving; The feature recognition module is used to perform feature recognition according to the real-time ranging signal and the real-time pressure signal, output a signal feature set, input the signal feature set into a foreign body recognition model for recognition, and output a foreign body recognition parameter; The feedback adjustment module is used to feed back the foreign body identification parameters to the servo control unit of the suede sanding machine equipment for feedback adjustment and output servo adjustment parameters.

[0006] One or more technical solutions provided in this application have at least the following technical effects or advantages: An ultrasonic sensor module and a pressure sensor module are arranged on the sanding head of the sanding machine, wherein the ultrasonic sensor module includes a distance sensor, and the pressure sensor module includes a pressure sensor. When the sanding machine is in operation, the distance detection module is used to perform distance sensing according to the ultrasonic sensor module and output a real-time distance signal; the pressure detection module is used to perform pressure sensing according to the pressure sensor module and output a real-time pressure signal; the feature recognition module is used to perform feature recognition according to the real-time distance signal and the real-time pressure signal, output a signal feature set, input the signal feature set into a foreign body recognition model for recognition, and output a foreign body recognition parameter; the feedback adjustment module is used to feed back the foreign body recognition parameter to the servo control unit of the sanding machine for feedback adjustment, and output a servo adjustment parameter. The technical problem in the prior art that the sanding head generates clumping fluff when working, which reduces the stability and efficiency of the sanding of the sanding machine, is solved, and the technical effect of reducing the influence of clumping fluff on the sanding machine and improving the stability and efficiency of the sanding of the sanding machine is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0008] Figure 1 A schematic diagram of the structure of a sanding machine parameter adjustment system based on surface detection provided in an embodiment of the present application; Figure 2 A schematic diagram of the execution flow of the feature recognition module of the sanding machine parameter adjustment system based on surface detection provided in an embodiment of the present application. DETAILED DESCRIPTION

[0009] The embodiment of the present application solves the technical problem in the prior art that the stability and efficiency of the sanding machine are reduced due to the generation of clumping hair when the sanding head is working, by providing a sanding machine parameter adjustment system based on surface detection.

[0010] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0011] It should be noted that the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or modules that are not explicitly listed or are inherent to these processes, methods, products or devices.

[0012] Embodiment 1 like Figure 1 As shown, the present application provides a parameter adjustment system for a suede sanding machine based on surface detection. The system includes: An ultrasonic sensor module is provided, wherein the ultrasonic sensor module includes a distance measuring sensor and is provided on a sanding head of the sanding machine equipment; An ultrasonic sensor module is arranged on the grinding head of the grinding machine equipment. The ultrasonic sensor module includes a distance measuring sensor for real-time monitoring of the distance between the grinding head and the material being ground.

[0013] Furthermore, the ultrasonic sensor module includes a first ranging sensor and a second ranging sensor, and the steps performed include: Obtaining surface geometric parameters of the grinding head; The first distance measuring sensor is arranged on one side of the surface of the grinding head according to the surface geometric parameters, and the second distance measuring sensor is arranged on the other side of the surface of the grinding head, wherein the first distance measuring sensor and the second distance measuring sensor have a maximum distance on the surface of the grinding head; Using the first ranging sensor, outputting a first ranging signal; utilizing the second ranging sensor to output a second ranging signal; The first ranging signal and the second ranging signal are output as the real-time ranging signal.

[0014] The ultrasonic sensor module includes a first distance measuring sensor and a second distance measuring sensor, which are used to monitor the distance between the grinding head and the material being ground. The surface geometric parameters of the grinding head include the length, width, curvature, and concave-convex conditions of the grinding head. According to the surface geometric parameters of the grinding head, a suitable installation position is selected to place the first distance measuring sensor and the second distance measuring sensor. Specifically, the first distance measuring sensor is arranged on one side of the surface of the grinding head, and the second distance measuring sensor is arranged on the other side of the surface of the grinding head. Such an arrangement can ensure that the two sensors have the maximum spacing on the surface of the grinding head, thereby maximizing the coverage area and improving the accuracy and comprehensiveness of the distance measurement. The first distance measuring sensor will output a first distance measuring signal, which represents the spacing between one side of the grinding head and the material being ground; and the second distance measuring sensor will output a second distance measuring signal, which represents the spacing between the other side of the grinding head and the material being ground. The first distance measuring signal and the second distance measuring signal are updated in real time and can reflect the dynamic changes in the spacing between the grinding head and the material being ground. The first distance measuring signal and the second distance measuring signal are output as real-time distance measuring signals.

[0015] The distance detection module is used to perform distance sensing according to the ultrasonic sensor module when the shaving machine is in operation, and output a real-time distance measurement signal, wherein the real-time distance measurement signal is a distance detection signal of the overlap distance between the shaving head and the surface of the material being shaving; When the shaving machine starts to work, the distance detection module will perform distance sensing according to the data provided by the ultrasonic sensor module and output a real-time distance measurement signal. The real-time distance measurement signal is a distance detection signal of the overlap distance between the shaving head and the surface of the material being shaving.

[0016] A pressure sensing module is provided, wherein the pressure sensing module includes a pressure sensor and is provided on the sanding head of the sanding machine device; A pressure sensing module is arranged on the grinding head of the grinding machine equipment. The pressure sensing module includes a pressure sensor for real-time monitoring of the contact pressure between the grinding head and the material to be ground.

[0017] Furthermore, the pressure sensing module includes a first pressure sensor and a second pressure sensor, and the steps performed include: The first pressure sensor is arranged on one side of the surface of the grinding head, and the second pressure sensor is arranged on the other side of the surface of the grinding head, wherein the first pressure sensor is arranged on a side corresponding to the first distance measuring sensor, and the second pressure sensor is arranged on a side corresponding to the second distance measuring sensor; Using the first pressure sensor to output a first pressure signal; utilizing the second pressure sensor to output a second pressure signal; The first pressure signal and the second pressure signal are output as the real-time pressure signal.

[0018] The pressure sensing module includes a first pressure sensor and a second pressure sensor, which are used to obtain pressure information on the surface of the grinding head. The first pressure sensor is set on one side of the surface of the grinding head to ensure that the pressure change on the side can be accurately measured; the second pressure sensor is set on the other side of the surface of the grinding head to form a symmetrical or complementary position relationship with the first pressure sensor. This setting helps to obtain pressure data on both sides of the grinding head, thereby more accurately reflecting the contact pressure between the grinding head and the material being ground. During the setting process, the first pressure sensor should be set on the side corresponding to the first distance measuring sensor, and the second pressure sensor should be set on the side corresponding to the second distance measuring sensor, so as to match and comprehensively analyze the distance measuring data with the pressure data to improve the consistency and accuracy of the data. The first pressure sensor will output a first pressure signal, representing the pressure between one side of the grinding head and the material being ground; and the second pressure sensor will output a second pressure signal, representing the pressure between the other side of the grinding head and the material being ground. The first pressure signal and the second pressure signal are output as real-time pressure signals.

[0019] The pressure detection module is used to perform pressure sensing according to the pressure sensing module when the shaving machine equipment is in operation, and output a real-time pressure signal, wherein the real-time pressure signal is a pressure detection signal of the overlap distance between the shaving head and the surface of the material being shaving; When the sueding machine is in operation, the pressure detection module will perform pressure sensing according to the data provided by the pressure sensing module and output a real-time pressure signal. The real-time pressure signal is a pressure detection signal of the overlap distance between the sueding head and the surface of the material being sued.

[0020] The feature recognition module is used to perform feature recognition according to the real-time ranging signal and the real-time pressure signal, output a signal feature set, input the signal feature set into a foreign body recognition model for recognition, and output a foreign body recognition parameter; The feature recognition module is responsible for feature recognition based on the real-time ranging signal and the real-time pressure signal to extract key information related to the material being ground, which is then used for subsequent foreign body recognition. The feature recognition module receives the real-time ranging signal from the distance detection module and the real-time pressure signal from the pressure detection module, performs feature extraction on the real-time ranging signal and the real-time pressure signal, and outputs a signal feature set, which contains all key feature parameters extracted from the real-time ranging signal and the real-time pressure signal. The signal feature set is input into the foreign body recognition model, and the foreign body recognition parameters are output, including the existence, location, size, type and other information of the foreign body. The foreign body recognition model is a pre-trained machine learning model that can identify foreign body features that are different from normal materials based on the input signal feature set.

[0021] Furthermore, if Figure 2As shown, the steps performed by the feature recognition module include: Determining a ranging index of a first ranging signal and a ranging index of a second ranging signal according to the real-time ranging signal; Determining a pressure index of a first pressure signal and a pressure index of a second pressure signal according to the real-time pressure signal; Perform feature recognition based on the ranging index of the first ranging signal, the ranging index of the second ranging signal, and a historical ranging index, and output a ranging comparison vector; Perform feature recognition based on the pressure index of the first pressure signal, the pressure index of the second pressure signal, and the historical pressure index, and output a pressure comparison vector; A signal feature set is outputted based on the distance measurement comparison vector and the pressure comparison vector.

[0022] The feature recognition module receives the real-time ranging signal from the first ranging sensor and the second ranging sensor, extracts the ranging data from the first ranging signal, and obtains the ranging index of the first ranging signal, including the distance value, the distance change rate, the fluctuation mode, etc. Similarly, the ranging data is extracted from the second ranging signal to obtain the ranging index of the second ranging signal. The feature recognition module receives the real-time pressure signal from the first pressure sensor and the second pressure sensor, analyzes the pressure data of the first pressure signal, obtains the pressure index of the first pressure signal, including the pressure value, the pressure distribution, the pressure change rate, etc., analyzes the pressure data of the second pressure signal, and obtains the pressure index of the second pressure signal. The ranging index of the first ranging signal and the ranging index of the second ranging signal are compared with the historical ranging index, the difference and similarity between the current ranging signal and the historical data are identified, and a ranging comparison vector is generated. The pressure index of the first pressure signal and the pressure index of the second pressure signal are compared with the historical pressure index, the characteristic difference between the current pressure signal and the historical data is identified, and a pressure comparison vector is generated. The distance measurement comparison vector and the pressure comparison vector are integrated to form a complete signal feature set. The signal feature set contains key feature information extracted from the real-time distance measurement signal and the real-time pressure signal, reflecting the current state between the grinding head and the material being ground.

[0023] Furthermore, the feature recognition module performs the following steps: Inputting the signal feature set into a foreign object recognition model for recognition, wherein the foreign object recognition model is obtained by training a binary decision maker, and the foreign object recognition model determines whether the distance measurement comparison vector includes a distance measurement positive vector and a distance measurement negative vector, and determines whether the pressure comparison vector includes a pressure positive vector and a pressure negative vector; If the distance measurement comparison vector includes a distance measurement positive vector and a distance measurement negative vector, and the pressure comparison vector includes a pressure positive vector and a pressure negative vector, it is determined based on the two-value decision maker whether the sensors corresponding to the distance measurement positive vector and the pressure negative vector are on the same side; If the foreign object feedback signal is output on the same side, it is used to remind the grinding head that the posture is abnormal.

[0024] The foreign body recognition model is obtained by training the dual-value decision maker. Specifically, a large amount of historical data is collected to train the dual-value decision maker, including normal ranging signals and pressure signals, as well as signal data when foreign bodies exist. Features are extracted from the collected data to form positive and negative vector pairs. For abnormal situations, the corresponding positive and negative vector pairs are marked as abnormal; for normal situations, they are marked as normal. In this way, a labeled data set is formed. The labeled data set is input into the dual-value decision maker for training. The dual-value decision maker learns how to judge the positive and negative vector pairs based on the features and labels of the data, so as to identify whether there are foreign bodies. During the training process, the performance of the model is optimized by adjusting the parameters of the dual-value decision maker. The foreign body recognition model obtained by training the dual-value decision maker can effectively use the real-time signal feature set for foreign body recognition. The signal feature set is input into the foreign body recognition model for recognition. The foreign body recognition model first determines whether the ranging comparison vector contains both the ranging positive vector and the ranging negative vector. The ranging positive vector and the ranging negative vector represent an increase in distance and a decrease in distance, respectively. Next, determine whether the pressure comparison vector contains both a positive pressure vector and a negative pressure vector, where the positive pressure vector and the negative pressure vector represent pressure increase and pressure decrease, respectively. If the distance measurement comparison vector contains positive and negative vectors, and the pressure comparison vector also contains positive and negative vectors, then further check whether the sensors corresponding to these vectors are located on the same side of the grinding head. If it is determined that the sensors corresponding to the positive distance measurement vector and the negative pressure vector or the negative distance measurement vector and the positive pressure vector are on the same side, indicating that the posture of the grinding head on this side is abnormal, the foreign body recognition model will output a foreign body feedback signal to remind the grinding head of the abnormal posture.

[0025] Furthermore, after the real-time ranging signal is output, the steps performed further include: Acquiring the electrostatic signal field on the surface of the material being ground; According to the electrostatic signal field on the surface of the material being ground, the ultrasonic sensor module is subjected to sensor impact identification, and a distance measurement impact index is output; A signal filter is generated according to the ranging influence index, the real-time ranging signal is input into the signal filter for filtering to obtain a filtered real-time ranging signal, and then feature recognition is performed on the filtered real-time ranging signal.

[0026] During the operation of the grinding machine, the electrostatic signal field on the surface of the material being ground will affect the ranging accuracy of the ultrasonic sensor module. The electrostatic signal field on the surface of the material being ground is measured and obtained. The electrostatic signal field contains information such as the distribution, intensity and change of static electricity on the surface of the material. According to the electrostatic signal field, the ultrasonic sensor module is identified for sensing influence. By analyzing the correlation between the electrostatic signal field and the ranging data of the ultrasonic sensor module, the influence of static electricity on the ultrasonic propagation path, speed or reflection characteristics is found. After completing the sensing influence identification, the ranging influence index is output. The ranging influence index reflects the degree of influence of the electrostatic signal field on the ranging accuracy of the ultrasonic sensor module. According to the ranging influence index, a signal filter is generated. The signal filter is used to pre-process the real-time ranging signal to eliminate or weaken the interference caused by the electrostatic signal field on the ranging signal. The real-time ranging signal is input into the signal filter for filtering to obtain the filtered real-time ranging signal. The filtered signal will more accurately reflect the actual distance between the material being ground and the grinding head, and the filtered real-time ranging signal is feature identified. Through the above steps, the influence of the electrostatic signal field on the surface of the material being ground on the ranging accuracy of the ultrasonic sensor module can be effectively eliminated, thereby improving the accuracy and reliability of ranging during the operation of the grinding machine equipment.

[0027] Furthermore, the signal filter includes a first filtering condition. When the first filtering condition is met, the real-time ranging signal is input into the filtering channel of the signal filter for filtering. The first filtering condition includes: Obtaining a simulated ranging signal sample according to the initial ranging signal sample and the electrostatic signal field sample, wherein the electrostatic signal field sample includes an electric field strength and a discharge radius; Obtain a signal impact index sample by comparing the simulated ranging signal sample with the initial ranging signal sample; A preset influence index is determined according to the signal influence index sample, and a first filtering condition is generated according to a preset electric field strength threshold and a preset discharge radius threshold corresponding to the preset influence index.

[0028] In the grinding machine equipment, the function of the signal filter is to eliminate or weaken the influence of the electrostatic signal field on the surface of the grinding material on the real-time ranging signal, thereby improving the accuracy of ranging. The signal filter includes a first filtering condition, which is used to determine whether the real-time ranging signal needs to be input into the filtering channel for filtering. The initial ranging signal sample is the ranging signal data collected when the grinding machine equipment is working normally without electrostatic interference. The electrostatic signal field sample includes key parameters such as electric field strength and discharge radius, which reflects the characteristics of the electrostatic field on the surface of the grinding material. The simulated ranging signal sample is compared with the initial ranging signal sample, and the difference between the two is analyzed. These differences reflect the degree of influence of the electrostatic signal field on the ranging signal. According to the comparison results, a signal influence index sample is obtained, including distance deviation, signal volatility, etc. Based on the signal influence index sample, combined with the actual operation requirements and performance requirements of the grinding machine equipment, one or more preset influence indicators are determined to determine whether the real-time ranging signal is subject to sufficient electrostatic interference and needs to be filtered. According to the preset influence index, the corresponding preset electric field strength threshold and preset discharge radius threshold are used to determine whether the current electrostatic signal field meets the conditions that need to trigger filtering, that is, the first filtering condition.

[0029] Further, activating the first filtering condition includes: Determining the current electric field strength and the current discharge radius according to the electrostatic signal field on the surface of the material being ground; If any one of the current electric field strength and the current discharge radius is greater than or equal to the preset electric field strength threshold or the preset discharge radius threshold, the first filtering condition is activated.

[0030] The current electric field strength and the current discharge radius are extracted from the electrostatic signal field on the surface of the material being ground. The current electric field strength and the current discharge radius reflect the strength and influence range of the electrostatic signal field. The current electric field strength and the current discharge radius are compared with the preset electric field strength threshold or the preset discharge radius threshold, respectively. If the current electric field strength is greater than or equal to the preset electric field strength threshold, or the current discharge radius is greater than or equal to the preset discharge radius threshold, then the condition for activating the first filter condition is met. Once it is determined that any one of the current electric field strength or discharge radius exceeds the preset threshold, the first filter condition is immediately activated.

[0031] The feedback adjustment module is used to feed back the foreign body identification parameters to the servo control unit of the suede sanding machine equipment for feedback adjustment and output servo adjustment parameters.

[0032] The feedback adjustment module is responsible for feeding back the foreign body identification parameters to the servo control unit in real time, so as to perform precise feedback adjustment and output the corresponding servo adjustment parameters. Specifically, the feedback adjustment module receives the foreign body identification parameters from the foreign body identification module. Once a foreign body is identified, the feedback adjustment module will immediately pass these parameters to the servo control unit. The servo control unit is responsible for controlling the movement of the servo motor to achieve precise position and speed control of the sanding head. After receiving the foreign body identification parameters transmitted by the feedback adjustment module, the servo control unit will perform feedback adjustment based on these parameters, adjust the current servo parameters, and output the servo adjustment parameters to optimize the movement trajectory and speed of the sanding head, thereby avoiding collisions with foreign bodies or producing poor processing effects. By feeding back foreign body identification parameters in real time and outputting servo adjustment parameters, precise control and optimization of the sanding operation is achieved, improving the performance and operating efficiency of the equipment.

[0033] In summary, the embodiments of the present application have at least the following technical effects: An ultrasonic sensor module and a pressure sensor module are arranged on the sanding head of the sanding machine, wherein the ultrasonic sensor module includes a distance sensor, and the pressure sensor module includes a pressure sensor. When the sanding machine is in operation, the distance detection module is used to perform distance sensing according to the ultrasonic sensor module and output a real-time distance signal; the pressure detection module is used to perform pressure sensing according to the pressure sensor module and output a real-time pressure signal; the feature recognition module is used to perform feature recognition according to the real-time distance signal and the real-time pressure signal, output a signal feature set, input the signal feature set into a foreign body recognition model for recognition, and output a foreign body recognition parameter; the feedback adjustment module is used to feed back the foreign body recognition parameter to the servo control unit of the sanding machine for feedback adjustment, and output a servo adjustment parameter. The technical problem in the prior art that the sanding head generates clumping fluff when working, which reduces the stability and efficiency of the sanding of the sanding machine, is solved, and the technical effect of reducing the influence of clumping fluff on the sanding machine and improving the stability and efficiency of the sanding of the sanding machine is achieved.

[0034] It should be noted that the above-mentioned sequence of the embodiments of the present application is only for description and does not represent the advantages and disadvantages of the embodiments. And the above-mentioned specific embodiments of this specification are described. Other embodiments are within the scope of the attached claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0035] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

[0036] This specification and drawings are merely exemplary illustrations of the present application and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, a person skilled in the art may make various modifications and variations to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present application and its equivalents, the present application intends to include these modifications and variations.

Claims

1. The parameter adjustment system of the sueding machine based on surface detection is characterized by: The system comprises: An ultrasonic sensor module is provided, wherein the ultrasonic sensor module includes a distance measuring sensor and is provided on a sanding head of the sanding machine equipment; The distance detection module is used to perform distance sensing according to the ultrasonic sensor module when the shaving machine is in operation, and output a real-time distance measurement signal, wherein the real-time distance measurement signal is a distance detection signal of the overlap distance between the shaving head and the surface of the material being shaving; A pressure sensing module is provided, wherein the pressure sensing module includes a pressure sensor and is provided on the sanding head of the sanding machine device; The pressure detection module is used to perform pressure sensing according to the pressure sensing module when the shaving machine is in operation, and output a real-time pressure signal, wherein the real-time pressure signal is a pressure detection signal of the overlap distance between the shaving head and the surface of the material being shaving; The feature recognition module is used to perform feature recognition according to the real-time ranging signal and the real-time pressure signal, output a signal feature set, input the signal feature set into a foreign body recognition model for recognition, and output a foreign body recognition parameter; The feedback adjustment module is used to feed back the foreign body identification parameters to the servo control unit of the suede sanding machine equipment for feedback adjustment and output servo adjustment parameters.

2. The system according to claim 1, characterized in that The ultrasonic sensor module includes a first distance measuring sensor and a second distance measuring sensor, and the system includes: Obtaining surface geometric parameters of the grinding head; The first distance measuring sensor is arranged on one side of the surface of the grinding head according to the surface geometric parameters, and the second distance measuring sensor is arranged on the other side of the surface of the grinding head, wherein the first distance measuring sensor and the second distance measuring sensor have a maximum distance on the surface of the grinding head; Using the first ranging sensor, outputting a first ranging signal; utilizing the second ranging sensor to output a second ranging signal; The first ranging signal and the second ranging signal are output as the real-time ranging signal.

3. The system according to claim 2, characterized in that The pressure sensing module includes a first pressure sensor and a second pressure sensor, and the system includes: The first pressure sensor is arranged on one side of the surface of the grinding head, and the second pressure sensor is arranged on the other side of the surface of the grinding head, wherein the first pressure sensor is arranged on a side corresponding to the first distance measuring sensor, and the second pressure sensor is arranged on a side corresponding to the second distance measuring sensor; Using the first pressure sensor to output a first pressure signal; utilizing the second pressure sensor to output a second pressure signal; The first pressure signal and the second pressure signal are output as the real-time pressure signal.

4. The system according to claim 3, characterized in that The feature recognition module performs the following steps: Determining a ranging index of a first ranging signal and a ranging index of a second ranging signal according to the real-time ranging signal; Determining a pressure index of a first pressure signal and a pressure index of a second pressure signal according to the real-time pressure signal; Perform feature recognition based on the ranging index of the first ranging signal, the ranging index of the second ranging signal, and a historical ranging index, and output a ranging comparison vector; Perform feature recognition based on the pressure index of the first pressure signal, the pressure index of the second pressure signal, and the historical pressure index, and output a pressure comparison vector; A signal feature set is outputted based on the distance measurement comparison vector and the pressure comparison vector.

5. The system according to claim 4, characterized in that The feature recognition module performs the following steps: Inputting the signal feature set into a foreign object recognition model for recognition, wherein the foreign object recognition model is obtained by training a binary decision maker, and the foreign object recognition model determines whether the distance measurement comparison vector includes a distance measurement positive vector and a distance measurement negative vector, and determines whether the pressure comparison vector includes a pressure positive vector and a pressure negative vector; If the distance measurement comparison vector includes a distance measurement positive vector and a distance measurement negative vector, and the pressure comparison vector includes a pressure positive vector and a pressure negative vector, it is determined based on the two-value decision maker whether the sensors corresponding to the distance measurement positive vector and the pressure negative vector are on the same side; If the foreign object feedback signal is output on the same side, it is used to remind the grinding head that the posture is abnormal.

6. The system according to claim 1, wherein: After the real-time ranging signal is output, the steps performed further include: Acquiring the electrostatic signal field on the surface of the material being ground; According to the electrostatic signal field on the surface of the material being ground, the ultrasonic sensor module is subjected to sensor impact identification, and a distance measurement impact index is output; A signal filter is generated according to the ranging influence index, the real-time ranging signal is input into the signal filter for filtering to obtain a filtered real-time ranging signal, and then feature recognition is performed on the filtered real-time ranging signal.

7. The system according to claim 6, characterized in that The signal filter includes a first filtering condition. When the first filtering condition is met, the real-time ranging signal is input into the filtering channel of the signal filter for filtering. The first filtering condition includes: Obtaining a simulated ranging signal sample according to the initial ranging signal sample and the electrostatic signal field sample, wherein the electrostatic signal field sample includes an electric field strength and a discharge radius; Obtain a signal impact index sample by comparing the simulated ranging signal sample with the initial ranging signal sample; A preset influence index is determined according to the signal influence index sample, and a first filtering condition is generated according to a preset electric field strength threshold and a preset discharge radius threshold corresponding to the preset influence index.

8. The system according to claim 7, characterized in that Activating the first filtering condition includes: Determining the current electric field strength and the current discharge radius according to the electrostatic signal field on the surface of the material being ground; If any one of the current electric field strength and the current discharge radius is greater than or equal to the preset electric field strength threshold or the preset discharge radius threshold, the first filtering condition is activated.

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