Control method of sanding machine and electronic equipment

Abstract

The invention discloses a control method of a sanding machine and electronic equipment, and belongs to the technical field of sanding machines. The method comprises the steps that in the moving process of a target board, first target information is determined through a radio frequency signal of a radio frequency device, and the first target information is information obtained under the condition that the target board enters an action area of the radio frequency device; based on the first target information, determining a first distance between the current position of the target board and the radio frequency device; under the condition that the first distance is larger than or equal to a first target distance, it is determined that the target plate is located at a first to-be-sanded position; wherein the first target distance is the distance between the radio frequency device and a target sanding component of the sanding machine; and the target sanding component is controlled to conduct sanding operation on the target plate located at the first to-be-sanded position.

Description

Technical Field

[0001] The present application belongs to the technical field of sanding machines, and in particular relates to a control method and electronic equipment for a sanding machine. Background Art

[0002] Sanding refers to the physical removal of materials and objects that are not flat, have uneven thickness, and do not meet the process requirements, such as gauze, grinding wheels, and sandpaper, to make them smoother and more uniform in thickness. Sanding machines are mechanical equipment that complete sanding work. In order to improve production efficiency, automatic conveying equipment is generally used to transport the sheet to the conveyor belt of the sanding machine, and the sheet is sanded by the sanding parts on the conveyor belt.

[0003] During the entire sanding operation, it is necessary to detect the plate, so that when there is a plate on the conveyor belt below the sanding component, the sanding component is controlled to perform sanding operation on the plate.

[0004] In the process of realizing plate detection, the relevant technology usually uses contact probe technology, which requires the probe to contact the surface of the object to be detected, resulting in severe mechanical wear and easy damage to the surface of the object to be detected. Summary of the invention

[0005] The embodiments of the present application provide a control method and electronic device for a sanding machine, which can solve the problem in the related art that the surface of the detected object is easily damaged.

[0006] In a first aspect, an embodiment of the present application provides a control method for a sanding machine, the method comprising: During the movement of the target plate, first target information is determined through the radio frequency signal of the radio frequency device, where the first target information is information obtained when the target plate enters the action area of ​​the radio frequency device; Based on the first target information, determining a first distance between a current position of the target plate and the radio frequency device; When the first distance is greater than or equal to a first target distance, determining that the target plate is located at a first position to be sanded; wherein the first target distance is the distance between the radio frequency device and a target sanding component of the sanding machine; The target sanding component is controlled to perform a sanding operation on the target plate located at the first position to be sanded.

[0007] In a second aspect, an embodiment of the present application provides an electronic device, which includes a processor and a memory, wherein the memory stores programs or instructions, and when the programs or instructions are executed by the processor, the steps of the method described in the first aspect are implemented.

[0008] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed, the steps of the method described in the first aspect are implemented.

[0009] In a fourth aspect, an embodiment of the present application provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the method described in the first aspect.

[0010] At least one of the above technical solutions provided in the embodiments of the present application can achieve the following technical effects: In an embodiment of the present application, during the movement of the target plate, the first target information is determined by the radio frequency signal of the radio frequency device, and the first target information is information obtained when the target plate enters the action area of ​​the radio frequency device; based on the first target information, the first distance between the current position of the target plate and the radio frequency device is determined; when the first distance is greater than or equal to the first target distance, the target plate is determined to be located at the first position to be sanded; wherein the first target distance is the distance between the radio frequency device and the target sanding component of the sanding machine; the target sanding component is controlled to perform a sanding operation on the target plate located at the first position to be sanded. In this way, the first distance between the current position of the target plate and the radio frequency device can be determined by the radio frequency signal collected by the radio frequency device, so that when the first distance is greater than or equal to the first target distance, the target plate is determined to be located at the first position to be sanded, and the target sanding component is controlled to perform a sanding operation on the target plate located at the first position to be sanded. Compared with the contact probe technology used in the related art, this method will not cause damage to the surface of the target plate, and solves the problem of the related art that the surface of the detected object is easily damaged. In addition, this method is not easy to cause mechanical wear and has a long service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0012] Figure 1 is a flow chart of a control method for a sanding machine provided in an embodiment of the present application; Figure 2 is a schematic diagram of a sanding machine provided in an embodiment of the present application; Figure 3is a schematic diagram of the correspondence between the radio frequency signal and the piano key control point provided in the embodiment of the present application; Figure 4 is a flow chart of another control method for a sanding machine provided in an embodiment of the present application; Figure 5 It is a schematic diagram of a piano-key sanding machine control system provided in an embodiment of the present application; Figure 6 is a schematic diagram of a ring array provided in an embodiment of the present application; Figure 7 is a flowchart of an array storage process provided by an embodiment of the present application; Figure 8 is a flow chart of another control method for a sanding machine provided in an embodiment of the present application; Fig. 9 It is a schematic diagram of a flow chart of controlling a piano-key type sanding machine provided in an embodiment of the present application; Fig.10 It is a schematic diagram of a specific example provided in the embodiment of the present application; Fig.11 It is a schematic diagram of another flow chart of controlling a piano-key type sanding machine provided in an embodiment of the present application; Fig.12 It is a specific flow chart of a control method of a sanding machine provided in an embodiment of the present application; Fig.13 It is a structural block diagram of a control device for a sanding machine provided in an embodiment of the present application; Fig.14 It is a structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0013] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0014] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0015] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0016] In the entire sanding operation, the detection of processed plates is one of the key steps in automated sanding. At present, the detection of processed plates is mainly achieved through sensors and control systems. Among them, the relevant technologies usually adopt the following three methods: The first method is to use laser 3D scanning technology, which uses line laser and charge coupled device (CCD) imaging principles. The second method is to use machine vision technology, which uses multi-angle industrial cameras and artificial intelligence (AI) algorithm principles. The third method is to use contact probe technology, which uses the principle of mechanical probe touch contour.

[0017] Among them, the laser 3D scanning technology and optical camera technology used in the first and second methods have the problems of high equipment cost and susceptibility to dust environment, and the third method has the problems of severe mechanical wear and short service life.

[0018] The control method of the sanding machine provided in the embodiment of the present application can determine whether the target plate is located at the first position to be sanded by the radio frequency signal collected by the radio frequency device, and the cost of the radio frequency device is low, and the radio frequency signal is not easily affected by the dust environment, which solves the problems of high equipment cost and susceptibility to dust environment in the above-mentioned first and second methods. In addition, this radio frequency detection technology belongs to non-contact detection technology, the radio frequency device will not contact the plate, the mechanical wear is small, and the service life is long, which solves the problems of severe mechanical wear and short service life in the above-mentioned third method.

[0019] The control method of a sanding machine provided in an embodiment of the present application is applied to sanding machine technology. The first target information determined by the radio frequency signal of the radio frequency device can be used to determine the first distance between the current position of the target plate and the radio frequency device, so that when the first distance is greater than or equal to the first target distance, it is determined that the target plate is located at the first position to be sanded. The first target distance is the distance between the radio frequency device and the target sanding component of the sanding machine, and the target sanding component is further controlled to perform a sanding operation on the target plate located at the first position to be sanded.

[0020] The control method of the sanding machine provided in the embodiment of the present application may be executed by a target device, wherein the target device may be a control device of the sanding machine, and the control device is provided with a control system of the sanding machine.

[0021] The control method of the sanding machine provided in the embodiment of the present application is described in detail below through specific embodiments and application scenarios in conjunction with the accompanying drawings.

[0022] See also Figure 1 , Figure 1 1 is a flow chart of a control method for a sanding machine provided in an embodiment of the present application. Figure 1 As shown, the method comprises the following steps: Step 110: during the movement of the target plate, first target information is determined through a radio frequency signal of the radio frequency device, where the first target information is information obtained when the target plate enters an action area of ​​the radio frequency device.

[0023] In the embodiment of the present application, the radio frequency device is an electronic device that uses electromagnetic wave signals for sensing. The radio frequency device can transmit and receive electromagnetic wave signals, and the radio frequency signal can be the electromagnetic wave signal received by the radio frequency device. When the target plate is transmitted to the sanding machine, it can be moved to the first sanding position through the conveyor belt of the sanding machine, so as to perform a sanding operation on the target plate. The radio frequency device can be set at the plate entrance of the sanding machine (such as Figure 2 As shown in the figure, the RF signal collected by the RF device is used to detect whether the target plate has entered the action area of ​​the RF device, and the action area of ​​the RF device may include the vertical projection area of ​​the RF device on the conveyor belt. When the target plate enters the action area of ​​the RF device, the first target information can be determined. The first target information may be, for example, the time point when the target plate just enters the action area of ​​the RF device.

[0024] Step 120: Determine a first distance between the current position of the target plate and the radio frequency device based on the first target information.

[0025] In the embodiment of the present application, taking the time point A when the target plate just enters the action area of ​​the radio frequency device as an example, the time point B when the target plate is currently detected to be located at the first position to be sanded and the rotation speed of the conveyor belt shaft of the sanding machine can be obtained. The time difference between the time point A and the time point B can be determined, and the first distance between the current position of the target plate and the radio frequency device can be determined through the rotation speed and the time difference.

[0026] Step 130: When the first distance is greater than or equal to a first target distance, determine that the target plate is located at a first position to be sanded; wherein the first target distance is the distance between the radio frequency device and a target sanding component of the sanding machine.

[0027] In the embodiment of the present application, the first distance between the current position of the target plate and the radio frequency device can be determined in real time according to different detection time points. When the target plate is not located at the first position to be sanded, the first distance is less than the first target distance. When the first distance determined at a certain detection time point is greater than or equal to the first target distance, it can be said that the target plate has just entered the first position to be sanded. The first position to be sanded is the vertical projection area of ​​the target sanding component on the conveyor belt of the sanding machine.

[0028] Step 140: Control the target sanding component to perform a sanding operation on the target plate located at the first to-be-sanded position.

[0029] In the embodiment of the present application, after determining that the target plate is located at the first position to be sanded, the target sanding component can be controlled to fall, so as to perform a sanding operation on the target plate located at the first position to be sanded. Figure 2 , Figure 2 is a schematic diagram of a sanding machine provided in an embodiment of the present application. The sanding machine may include multiple sanding components, such as Figure 2 The multiple key structures in Figure 2 The target sanding component may be one of the plurality of sanding components. Figure 2 The first group of piano key structures in the example are introduced, when the plate moves on the conveyor belt to the first position to be sanded (i.e. Figure 2 When the first group of key structures is below the first group of key structures, the first group of key structures can be controlled to fall, and the sanding belt arranged on the first group of key structures is pressed onto the plate, thereby performing a sanding operation on the plate.

[0030] In one embodiment of the present application, the target plate is set on the conveyor belt of the sanding machine, the conveyor belt of the sanding machine includes N areas, N is a positive integer, the first target information is determined based on the radio frequency signal of the target area collected by the radio frequency device, the target area is the i-th area of ​​the N areas, i is a positive integer less than or equal to N; the sanding machine includes a piano-key sanding machine, the target sanding component includes N piano keys, and the N piano keys correspond to the N areas one by one. In the process of controlling the target sanding component to perform a sanding operation on the target plate located at the first position to be sanded, the first control area corresponding to the target area can be determined based on the edge preset value and the target area, the first control area is the ij-th area to the i+j-th area of ​​the N areas, the first control area includes the target area, j is the edge preset value, and j is an integer greater than or equal to 0 and less than N. The piano keys corresponding to the first control area in the target sanding component are controlled to fall, and the target plate located in the target area is sanded.

[0031] In the embodiment of the present application, the conveyor belt includes N areas divided along the conveying direction of the conveyor belt, and the direction of the dividing line between any two adjacent areas in the N areas can be the conveying direction of the conveyor belt. The size, length and width of the N areas can be the same, and the conveyor belt can be divided equally based on a preset width to obtain N areas of the same width. The radio frequency device can collect radio frequency signals from the N areas to obtain Figure 3 The N radio frequency signals (signal 1, signal 2, ... signal N) are shown. The N regions correspond to the N keys of the target sanding component one by one, that is, the i-th region among the N regions corresponds to the i-th key among the N keys, the i-th region and the i-th key are on the same straight line, and the direction of the straight line is the conveying direction of the conveyor belt. Figure 3 For example, the target sanding component may be a first group of piano key structures, and the first area may be in the same straight line as the first key of the first group of piano key structures, and the direction of the straight line is Figure 3 Conveyor belt transport direction shown.

[0032] In an embodiment of the present application, the sanding component may include a sanding component with a piano key structure, that is, the key structure of the sanding machine can be raised and lowered. Each sanding component includes N piano keys and N solenoid valves, and the N piano keys correspond one-to-one to the N areas, and the N piano keys correspond one-to-one to the N solenoid valves. For one of the N solenoid valves, the solenoid valve is connected to the key corresponding to the solenoid valve through a connecting rod, and the control device can further control the rise and fall of the key by controlling the switch of the solenoid valve. When the key falls, the sanding belt under the key will be pressed onto the surface of the plate, thereby achieving a precise sanding effect on the plate.

[0033] There is a corresponding relationship between the radio frequency signal collected by the radio frequency device and the key control point. Figure 3 , Figure 3 Schematic diagram of the correspondence between the radio frequency signal and the key control point provided in the embodiment of the present application. Figure 3 As shown in Table 1, Figure 3 Taking the four groups of key structures in the example, the keys corresponding to the RF signal (signal 1) collected in the first area are key No. 1 of the first group of key structures, key No. 1 of the second group of key structures, key No. 1 of the third group of key structures, and key No. 1 of the fourth group of key structures. The keys corresponding to the RF signal (signal 2) collected in the second area are key No. 2 of the first group of key structures, key No. 2 of the second group of key structures, key No. 2 of the third group of key structures, and key No. 2 of the fourth group of key structures. Similarly, the keys corresponding to the RF signal (signal i) collected in the i-th area are key No. i of the first group of key structures, key No. i of the second group of key structures, key No. i of the third group of key structures, and key No. i of the fourth group of key structures, where i is a positive integer greater than or equal to 1 and less than or equal to N.

[0034]

[0035] Table 1 There is a one-to-one correspondence between the N RF signals and the N regions, that is, there is a correspondence between each region and a key control point. For example, the first region may correspond to key No. 1 of the first group of key structures, key No. 1 of the second group of key structures, key No. 1 of the third group of key structures, and key No. 1 of the fourth group of key structures.

[0036] In the process of controlling the rise and fall of the keys in the sanding component, considering that multiple plates will be sanded one after another, and there will be overlapping parts in the signal areas of the plates, in order to ensure that the edge of each plate is not missed during sanding, or the special sanding process requires that the edge of the plate is not sanded, a method is proposed to enlarge, reduce or keep the key control area unchanged by the edge setting value.

[0037] For the i-th area among the N areas, the i-th area corresponds to the i-th key in the target sanding component. In the process of controlling the target sanding component to perform a sanding operation on the target plate located at the first position to be sanded, the first control range corresponding to the i-th area can be determined based on the edge preset value (recorded as iExtendCount). The first control range is [i-iExtendCount, i+iExtendCount], and the edge preset value is an integer greater than or equal to 1 and less than N. In the process of determining the first control range, the determined first control range may exceed the range of the N areas. For this situation, the first control range can be readjusted. Specifically, if i-iExtendCount is less than or equal to 0, and i+iExtendCount is less than or equal to N, the first control range may be [1, i+iExtendCount]; if i-iExtendCount is greater than 0, and i+iExtendCount is greater than N, the first control range may be [i-iExtendCount, N]; if i-iExtendCount is less than or equal to 0, and i+iExtendCount is greater than N, the first control range may be [1, N].

[0038] In the process of setting the edge preset value, the edge preset value may be less than 0, used to instruct the sanding component to fall less and ensure that the edge of the plate is not sanded; the edge preset value may also be equal to 0, used to instruct the sanding component to fall according to the radio frequency signal and sand according to the actual detection area of ​​the plate; the edge preset value may also be greater than 0, used to instruct the sanding component to fall more and ensure that the edge of the plate is fully sanded.

[0039] For example, when a certain plate passes, the RF signal collected from the 10th to 20th area is detected to change from no signal to signal. When the edge preset value is 2, in the process of controlling the target sanding part, the corresponding key control range is [10-2, 20+2], that is, the 8th to 22nd keys of the target sanding part are controlled to fall. When the edge preset value is 0, in the process of controlling the target sanding part, the corresponding key control range is [10-0, 20+0], that is, the 10th to 20th keys of the target sanding part are controlled to fall. When the edge preset value is -2, in the process of controlling the target sanding part, the corresponding key control range is [10-(-2), 20+(-2)], that is, the 12th to 18th keys of the target sanding part are controlled to fall.

[0040] In one embodiment of the present application, the sanding machine includes a first sanding component and a second sanding component, and the target sanding component is the first sanding component; the target plate is located at the first position to be sanded when the first distance is greater than or equal to the first target distance and less than the second target distance, the first target distance is the distance between the radio frequency device and the first sanding component, the second target distance is the distance between the radio frequency device and the second sanding component, and the first target distance is less than the second target distance. After determining the first distance between the current position of the target plate and the radio frequency device, when the first distance is greater than or equal to the second target distance, it is determined that the target plate is located at the second position to be sanded; and the second sanding component is controlled to perform a sanding operation on the target plate located at the second position to be sanded.

[0041] In the embodiment of the present application, the second position to be sanded is the vertical projection area of ​​the second sanding component on the conveyor belt. The sanding component of the sanding machine includes K groups of key structures. The following is an introduction taking 4 groups of key structures as an example, and each group of key structures includes N keys. The distance between the radio frequency device and each group of key structures can be determined respectively, and the distance between the radio frequency device and the first group of key structures is recorded as L1, the distance between the first group of key structures and the second group of key structures is recorded as L2, the distance between the second group of key structures and the third group of key structures is recorded as L3, and the distance between the third group of key structures and the fourth group of key structures is recorded as L4.

[0042] In the process of controlling the sanding machine to perform the sanding operation, the regions can be processed sequentially, that is, the radio frequency signal of the first region of the N regions can be processed first, and then the radio frequency signal of the second region can be processed, until the radio frequency signal of the Nth region is processed, and the control operation of one control cycle of the control system can be completed. When the radio frequency signal of the i-th region of the N regions is processed, the K key structures of the sanding machine can be controlled sequentially, that is, the first group of key structures can be controlled first, and then the second group of key structures can be controlled, until the control of the K-th group of key structures is completed, and then the next region can be processed.

[0043] For example, the first sanding component may be the first group of key structures among the four groups of key structures, and the second sanding component may be the second group of key structures among the four groups of key structures. When the first distance between the target plate and the radio frequency device is greater than the second target distance, the first target distance is L1, and the second target distance is L1+L2. It can be determined that the target plate has completely passed through the first group of key structures, that is, completely left the first position to be sanded, and reached the second position to be sanded. The second sanding component can be controlled to perform a sanding operation on the target plate located at the second position to be sanded.

[0044] In an embodiment of the present application, during the movement of the target plate, the first target information is determined by the radio frequency signal of the radio frequency device, and the first target information is information obtained when the target plate enters the action area of ​​the radio frequency device; based on the first target information, the first distance between the current position of the target plate and the radio frequency device is determined; when the first distance is greater than or equal to the first target distance, the target plate is determined to be located at the first position to be sanded; wherein the first target distance is the distance between the radio frequency device and the target sanding component of the sanding machine; the target sanding component is controlled to perform a sanding operation on the target plate located at the first position to be sanded. In this way, the first distance between the current position of the target plate and the radio frequency device can be determined by the radio frequency signal collected by the radio frequency device, so that when the first distance is greater than or equal to the first target distance, the target plate is determined to be located at the first position to be sanded, and the target sanding component is controlled to perform a sanding operation on the target plate located at the first position to be sanded. Compared with the contact probe technology used in the related art, this method will not cause damage to the surface of the target plate, and solves the problem of the related art that the surface of the detected object is easily damaged. In addition, this method is not easy to cause mechanical wear and has a long service life.

[0045] See also Figure 4 , Figure 4 1 is a flow chart of another control method for a sanding machine provided in an embodiment of the present application. Figure 4 As shown, the method comprises the following steps: Step 410: Acquire a first time point, where the first time point is the time point when the radio frequency device switches from a no-signal state to a radio frequency signal output state.

[0046] In an embodiment of the present application, the radio frequency device may be disposed above the conveyor belt, and the radio frequency device is used to determine whether there is a plate in the action area of ​​the radio frequency device by radio frequency detection, and the action area of ​​the radio frequency device may include the vertical projection area of ​​the radio frequency device on the conveyor belt. Specifically, the radio frequency device may send an electromagnetic wave signal, and when there is no plate in the action area of ​​the radio frequency device, the radio frequency device cannot receive the electromagnetic wave signal; when there is a plate in the action area of ​​the radio frequency device, the radio frequency device may receive the electromagnetic wave signal reflected by the plate. Therefore, the radio frequency device can determine whether the plate is located in the action area of ​​the radio frequency device by whether the electromagnetic wave signal is received.

[0047] That is, when the radio frequency device switches from a no-signal state to a radio frequency signal output state, it indicates that the plate begins to enter the action area of ​​the radio frequency device. At this time, the first time point can be recorded for subsequent determination of whether the target plate enters the first position to be sanded.

[0048] Step 420: Obtain a first moving distance of the target plate in a first time period; the first time period is a time period from a preset time point to the first time point.

[0049] In the embodiment of the present application, a piano-type sanding machine control system is provided. Figure 5 , Figure 5 Schematic diagram of a piano-type sanding machine control system provided in an embodiment of the present application. Figure 5 As shown, the piano-key sanding machine control system includes a sanding machine and a control device, and the control device is provided with the control system of the sanding machine. The conveyor belt of the sanding machine is provided with a radio frequency device, an absolute value encoder and a sanding component, and the sanding component can be a sanding component of a piano-key structure, for example Figure 5 The 4-key structure in the.

[0050] The control system is the control center of the piano-key sanding machine control system, which is used to collect various signals, control the operation of various mechanisms of the sanding machine, position control, speed control of the conveyor belt, parameter setting, and display work monitoring data, etc. The control system may include a signal reading module and a piano-key control module, wherein the signal reading module is used to obtain the radio frequency signal collected by the radio frequency device and the moving distance (including the first moving distance) calculated by the absolute encoder, and the piano-key control module is used to control the sanding component of the piano-key structure to fall or rise.

[0051] An absolute encoder may be provided on the conveyor belt roller of the sanding machine, and the absolute encoder may determine the moving distance of the conveyor belt within a period of time according to the rotation angle of the roller and the circumference of the roller within a period of time. A set time point may be pre-set, and the absolute encoder may calculate in real time the transmission distance of the conveyor belt from the preset time point to the current time point. Since the target plate moves on the conveyor belt, this distance is the moving distance of the target plate from the preset time point to the current time point. In this way, after determining the first time point, the absolute encoder may determine the first moving distance of the target plate within the first time period from the preset time point to the first time point, and transmit the first moving distance to the control device, so that the control device may obtain the first moving distance of the target plate within the first time period.

[0052] In one embodiment of the present application, it is considered that a large number of plates need to be sanded during the actual operation of the sanding machine. Different plates may enter the sanding machine at different time points. In order to handle such a complex situation, after obtaining the first moving distance of the target plate in the first time period, the first moving distance and the first marking information can be stored in the target array, and the first marking information is used to identify that the first moving distance is obtained when the target plate enters the action area of ​​the radio frequency device. Among them, the first distance is determined based on the first moving distance read from the target array, and the target plate is located at the first position to be sanded based on the first marking information when the first distance is greater than or equal to the first target distance.

[0053] In the embodiments of this application, please refer to Figure 6 , Figure 6 is a schematic diagram of a ring array provided in an embodiment of the present application. The target array may include Figure 6 The circular array shown, the target array may be in the form of a two-dimensional array, that is, each element of the target array may include two parameters (movement distance and marking information), wherein the marking information may include first marking information and second marking information, the first marking information is used to identify that the currently stored movement distance (for example, the first movement distance) is obtained when the target plate enters the action area of ​​the radio frequency device, and the second marking information is used to identify that the currently stored movement distance (for example, the third movement distance described later) is obtained when the target plate leaves the action area of ​​the radio frequency device.

[0054] In addition, considering that the area of ​​the conveyor belt is usually large, multiple plates may be sanded at the same time. In order to achieve more precise control of the sanding parts, the conveyor belt can be divided. The conveyor belt of the sanding machine may include N areas, and the N areas are divided along the conveying direction of the conveyor belt. N is a positive integer and can be set according to actual needs. In the process of collecting radio frequency signals by the radio frequency device, the radio frequency device can collect radio frequency signals from each of the N areas, so as to accurately determine the area range where the plate is located. For example, only the radio frequency signals collected from the second area to the tenth area of ​​the N areas change from no signal to signal, which means that the plate is located at the position of the second area to the tenth area of ​​the conveyor belt. The radio frequency signal collected by the radio frequency device can be transmitted to the control device in real time through a bus communication method (such as CAN-Bus or EtherCAT communication method).

[0055] The control device includes a signal reading module that can clean and store the radio frequency signal collected by the radio frequency device, and read and store the data transmitted by the absolute encoder. The control system includes a key control module that can control the sanding parts of the sanding machine through a ring array and a mobile index method based on the radio frequency signal stored in the signal reading module and the distance information transmitted by the absolute encoder. The specific process of array storage is introduced below.

[0056] Each of the N areas on the conveyor belt can correspond to an array, and a circular array structure can be used so that the data is connected end to end. The structure of the array is shown in the following formula. The length of the circular array can be determined according to the minimum size of the plate and the distance between the radio frequency device and the sanding component farthest from the radio frequency device, and can be adjusted according to actual conditions. In combination with the above factors, the N areas correspond to a total of N groups of arrays (for example, 80 areas correspond to 80 groups of arrays), the i-th area in the N areas corresponds to the i-th array in the N arrays, and the length of each array is recorded as M (M can be 2000, for example).

[0057] ; Each row can be used to represent an array corresponding to an area, M can be the length of the array, and N is the total number of areas divided by the conveyor belt. It is used to represent the array corresponding to the i-th area in the N areas. Among them, 1, 2, 3, 4, 5...M-2, M-1, M are used to represent the element subscripts of the array, not to represent the storage content of the array. In fact, as mentioned above, the array can be in the form of a two-dimensional array, and each storage element can include two parameters, namely, the moving distance and identification information. Specifically, taking the array corresponding to the first area represented by the first row as an example, the storage content of the array can be shown as follows: ; in, It is used to represent the moving distance stored in the i-th storage position in the first array (it may be the first moving distance described above, or it may be the third moving distance described below), Used to represent the identification information stored in the i-th storage position in the first array (which may be the first identification information described above, or the second identification information described below).

[0058] For any one of the N arrays, the array may correspond to a write index, and when a write operation is performed on the array, data is written to the position indicated by the write index corresponding to the array. Figure 7 , Figure 7 This is a flowchart of an array storage process provided by an embodiment of the present application. Figure 7Provide a detailed description of array stored procedures.

[0059] like Figure 7 As shown, the radio frequency signals of N areas can be processed in sequence. For the i-th area of ​​the N areas, it can be determined whether the i-th radio frequency signal collected by the radio frequency device in the i-th area has changed. If there is no change, the processing process of the radio frequency signal of the i+1-th area can be directly entered. If there is a change, it can be further determined whether the i-th radio frequency signal has changed from no signal to signal. In the case where the i-th radio frequency signal changes from no signal to signal, the first moving distance calculated by the absolute value encoder can be obtained, and the first moving distance can be stored in the position indicated by the write index in the i-th array, and the first identification information is stored at the position. In the case where the i-th radio frequency signal changes from signal to no signal, the third moving distance calculated by the absolute value encoder (i.e., the third moving distance described later) can be obtained, and the third moving distance can be stored in the position indicated by the write index in the i-th array, and the second identification information is stored at the position, and the second identification information is used to identify that the third moving distance is obtained when the target plate leaves the action area of ​​the radio frequency device. Then, the write index is increased by 1, and it is determined whether the write index is greater than the array length (M) at this time. If the write index is greater than the array length, the write index is determined to be 1, and the storage content of the storage location indicated by the write index is cleared. If the write index is less than the array length, the storage content of the storage location indicated by the write index is directly cleared. Then, the i+1th RF signal of the i+1th region can be processed.

[0060] Taking the first RF signal a1 in the first area as an example, the write index is 1. When the first RF signal changes from no signal to signal (0->1), it means that the target plate in the first area begins to enter the action area of ​​the RF device. The first moving distance calculated by the current encoder can be written into the array corresponding to the first area ( ), and store the first tag information ( ), the write index changes from 1 to 2, and the first marking information may be 1. If the first radio frequency signal a1 continues to be 1, it means that the target plate in the first area is passing through the action area of ​​the radio frequency device, and no record is made at this time.

[0061] When the first RF signal a1 changes from signal to no signal (1->0), it means that the target plate in the first area has left the action area of ​​the RF device, and the third moving distance calculated by the absolute encoder can be written into the array corresponding to the first area ( ), and store the second identification information ( ), the second identification information can be, for example, 0. If the first radio frequency signal a1 is continuously 0, it means that there is no plate within the range of the radio frequency device in the first area at this time, and no record is made at this time. By analogy, if the array corresponding to the first area is full, the next time storage starts from the first position of the array. The above storage process can be completed through this ring array structure.

[0062] Similar to the first RF signal, for the nth RF signal, the write index of the nth array is 1. When the i-th (1≤i≤N) RF signal changes from no signal to signal (0->1), it means that the target plate in the nth area begins to enter the action area of ​​the RF device, and the first moving distance calculated by the current encoder can be written into the array corresponding to the nth area ( ), and store the first tag information ( ), the write index changes from 1 to 2. If the nth RF signal continues to be 1, it means that the target plate in the nth area is passing through the action area of ​​the RF device, and it is not recorded at this time. When the nth RF signal changes from signal to no signal (1->0), it means that the target plate in the nth area has left the action area of ​​the RF device, and the third moving distance calculated by the absolute encoder can be written into the array corresponding to the nth area ( ), and store the second identification information ( ), the write index changes from 2 to 3, and the second identification information may be, for example, 0. If the nth radio frequency signal continues to be 0, it means that there is no plate within the range of the radio frequency device in the nth area at this time, and no record is made at this time.

[0063] Step 430: Determine a first distance between the current position of the target plate and the radio frequency device based on the first moving distance.

[0064] In an embodiment of the present application, after determining the first moving distance, the transmission distance of the conveyor belt from the first time point to the current detection time point can be determined based on the rotation speed of the conveyor belt shaft, so that the first distance between the current position of the target plate and the radio frequency device can be determined.

[0065] In one embodiment of the present application, the sanding machine includes K sanding components, K is a positive integer, and the target sanding component is one of the K sanding components; the target array corresponds to a write index and K read indexes, and the first moving distance and the first marking information are stored in the target storage position indicated by the write index corresponding to the target array; the K read indexes correspond to the K sanding components one by one, and the target sanding component corresponds to the first read index of the K read indexes. In the process of determining the first distance between the current position of the target plate and the radio frequency device based on the first moving distance, the following method can be used: determining the second moving distance of the target plate in a second time period, the second time period being the time period from the preset time point to the detection time point after the first time point. Obtaining the first storage content indicated by the first read index from the target array; in the case where the first storage content includes the first moving distance, determining the distance difference between the second moving distance and the first moving distance as the first distance between the current position of the target plate and the radio frequency device.

[0066] In the embodiment of the present application, the sanding machine may include K sanding components, for example Figure 5 The four groups of piano key structures in the conveyor belt can be sanded by the K sanding components in sequence. When the target plate reaches the first sanding component, the first sanding component can be controlled to sand the target plate; when the target plate reaches the second sanding component, the second sanding component can be controlled to sand the target plate. In order to realize the control of different sanding components, different sanding components can correspond to different read indexes in the array, such as Figure 6 As shown, each group of key structures corresponds to a read index.

[0067] That is to say, for any one of the N arrays, the array corresponds to one write index and K read indexes, and the K read indexes correspond one to one with the K sanding components. Figure 6 Taking the four groups of piano key structures in as an example, the write index corresponding to the array can be recorded as WriteIndex. Figure 6The read index corresponding to the first group of key structures can be recorded as ReadIndex1, the read index corresponding to the second group of key structures can be recorded as ReadIndex2, the read index corresponding to the third group of key structures can be recorded as ReadIndex3, and the read index corresponding to the fourth group of key structures can be recorded as ReadIndex4. When performing a write operation on the array, the data is written to the location indicated by the write index. When performing a read operation on the array, the data is read from the corresponding read index according to the specific sanding component. In order to ensure that the data in the array is not overwritten before being read, there should be a certain interval between the write index and the read index of the array. When controlling any of the K sanding components, data can be read from the array starting from the read index of 1. After the current data is read, the read index corresponding to the sanding component is increased by 1. At the same time, it can be determined whether the write index of the array (recorded as WriteIndex) is the same as the read index corresponding to the Kth sanding component (recorded as ReadIndexK). If they are the same, it means that the array length is insufficient, the array needs to be expanded, and a prompt message "insufficient array space" can be generated.

[0068] Specifically, in the process of determining the first distance between the current position of the target plate and the radio frequency device based on the first moving distance, the second time period from the preset time point to the detection time point can be determined first, and the second moving distance of the target plate in the second time period calculated by the absolute encoder can be obtained, wherein the detection time point is after the first time point. Then, the first storage content indicated by the first read index is obtained from the target array. In the case where the first storage content includes the first moving distance, that is, the read storage content includes the first moving distance obtained when the target plate enters the action area of ​​the radio frequency device, the distance difference between the second moving distance and the first moving distance can be determined as the first distance between the current position of the target plate and the radio frequency device. After determining the first distance, the first read index can be increased by 1 to point to the next position of the array.

[0069] Step 440: when the first distance is greater than or equal to a first target distance, determining that the target plate is located at a first position to be sanded; wherein the first target distance is the distance between the radio frequency device and a target sanding component of the sanding machine; Step 450: Control the target sanding component to perform a sanding operation on the target plate located at the first to-be-sanded position.

[0070] In the embodiment of the present application, a radio frequency device is introduced, and the detection of the plate can be achieved through the receiving signal status of the radio frequency device. At the same time, the radio frequency device itself serves as a reference position, and the current position of the plate can be determined through the distance between the plate and the radio frequency device, so that the position of the plate can be obtained in real time, and the target sanding component can be controlled in time when the plate enters the first sanding position.

[0071] See also Figure 8 , Figure 8 1 is a flow chart of another control method for a sanding machine provided in an embodiment of the present application. Figure 8 As shown, the method comprises the following steps: Step 810: during the movement of the target plate, first target information is determined through a radio frequency signal of the radio frequency device, where the first target information is information obtained when the target plate enters an action area of ​​the radio frequency device.

[0072] Step 820: Based on the first target information, determine a first distance between the current position of the target plate and the radio frequency device.

[0073] Step 830: when the first distance is greater than or equal to the first target distance, determine that the target plate is located at a first position to be sanded; and control the target sanding component to perform a sanding operation on the target plate located at the first position to be sanded.

[0074] Wherein, the first target distance is the distance between the radio frequency device and the target sanding part of the sanding machine. The process of controlling the sanding part of the sanding machine is described below with reference to a specific example. Fig. 9 , Fig. 9 1 is a schematic diagram of a process for controlling a piano-type sanding machine provided in an embodiment of the present application. Fig. 9 As shown, the target distance between the first group of key structures and the radio frequency device is L1, the target distance between the second group of key structures and the radio frequency device is L1+L2, the target distance between the third group of key structures and the radio frequency device is L1+L2+L3, and the target distance between the fourth group of key structures and the radio frequency device is L1+L2+L3+L4. Among them, L2 is the distance between the first group of key structures and the second group of key structures, L3 is the distance between the second group of key structures and the third group of key structures, and L4 is the distance between the third group of key structures and the fourth group of key structures.

[0075] like Fig. 9As shown, the second moving distance can be obtained from the absolute encoder. Process the RF signal of the i-th area, i=1, and control K groups of key structures in turn. First, it can be determined whether the first group of key structures needs to be controlled. The i-th area corresponds to the i-th array, and the i-th array corresponds to K read indexes and K last read indexes. There is a one-to-one correspondence between the K read indexes and the K last read indexes. For any of the K last read indexes, the last read index is the previous position of the read index corresponding to the last read index. Figure 6 Taking the first group of key structures in as an example, the first group of key structures may not only correspond to a read index ReadIndex1, but also correspond to a last read index LastReadIndex1, ReadIndex1 is 1399, and LastReadIndex1 may be 1398. Data may be read from the i-th array based on the read index corresponding to the first group of key structures in the K read indexes to obtain the target mark information and target moving distance (such as the first moving distance or the third moving distance) stored in the array, and determine the target distance difference between the target moving distance and the second moving distance (the specific process may refer to the above description). When the target distance difference is greater than the target distance (L1) between the first group of key structures and the radio frequency device, and the target mark information is the first mark information, it may be determined that the plate has reached the first group of key structures, and the first control area corresponding to the i-th area may be determined based on the edge preset value and the i-th area, and the keys corresponding to the first group of key structures and the first control area may be controlled to fall. When the target distance difference is greater than the target distance (L1) between the first group of key structures and the radio frequency device, and the target marking information is the second marking information, it can be determined that the plate has left the first group of key structures, and the i-th key corresponding to the i-th area in the first group of key structures can be controlled to rise.

[0076] Then, the read index corresponding to the first group of key structures in the K read indexes can be determined as the last read index corresponding to the first group of key structures in the K last read indexes, and the read index corresponding to the first group of key structures in the K read indexes is increased by one. And it is determined whether the read index corresponding to the first group of key structures in the K read indexes is greater than the array length after the increase. In the case of being greater than the array length, the read index corresponding to the first group of key structures can be determined to be 1. At this point, the control of the first group of key structures can be completed, and the control of the K groups of key structures can be completed in sequence in this way, which will not be repeated here.

[0077] The following steps 840-850 are used to detect whether the target plate has left the action area of ​​the radio frequency device, and determine the second target information when the target plate has left the action area of ​​the radio frequency device. Steps 860-870 are used to determine whether the target plate has left the first position to be sanded based on the second target information after determining the second target information, and the second target information is determined after the first target information is determined. However, it should be noted that the above steps 820-830 are used to detect whether the target plate has currently reached the first position to be sanded, and the time point when the target plate reaches the first position to be sanded may be after the target plate leaves the radio frequency device, or it may be before the target plate leaves the radio frequency device. Therefore, steps 840-850 may be before steps 820-830, or after steps 820-830. Figure 8 Just an example.

[0078] Step 840: Acquire a second time point, where the second time point is the time point when the radio frequency device switches from a state with radio frequency signal output to a state without signal.

[0079] In the embodiment of the present application, similar to detecting the target plate entering the action area of ​​the radio frequency device, when the target plate leaves the radio frequency device, the radio frequency device can switch from a state with radio frequency signal output to a state without signal. In other words, the radio frequency signal collected by the radio frequency device can be obtained in real time, and once it is found that the radio frequency device switches from a state with radio frequency signal output to a state without signal, the second time point can be determined.

[0080] Step 850: Determine second target information, where the second target information includes a third moving distance of the target plate in a third time period, where the third time period is a time period from a preset time point to the second time point; the second target information is information obtained when the target plate leaves the action area of ​​the radio frequency device.

[0081] In the embodiment of the present application, similar to the first target information, the third moving distance of the target plate in the third time period from the preset time point to the second time point can be obtained by an absolute encoder, which will not be repeated here.

[0082] In one embodiment of the present application, the first target information includes the first moving distance of the target plate in the first time period, the first time period is the time period from the preset time point to the first time point, the first time point is the time point when the radio frequency device switches from a no-signal state to a radio frequency signal output state; the first moving distance and the third moving distance are obtained when the same plate passes through the radio frequency device. After determining the second target information, the second distance difference between the first moving distance and the third moving distance can be determined; when the second distance difference is greater than a threshold, abnormal information of the radio frequency device can be determined.

[0083] In the embodiment of the present application, the second distance difference between the first moving distance and the second moving distance determined when the same plate passes through the radio frequency device is the length of the plate. A threshold value can be preset. If the second distance difference is greater than the threshold value, it means that the value of the second distance difference is too large and does not meet the length specification of a normal plate. This situation may be caused by an abnormality in the radio frequency device. In this case, the abnormal information of the radio frequency device can be determined and output to the control device.

[0084] Step 860: Determine a second distance between the current position of the target plate and the radio frequency device based on the second target information; In the embodiment of the present application, after determining the second target information, the third moving distance and the second identification information can be stored in the target array, and the second identification information is used to identify that the third moving distance is obtained when the target plate leaves the action area of ​​the radio frequency device. The second distance can be determined based on the third moving distance read from the target array. For the storage of the third moving distance and the second identification information, please refer to Figure 7 The description will not be repeated here.

[0085] Step 870: when the second distance is greater than or equal to the first target distance, determine that the target plate leaves the first position to be sanded; and control the target sanding component to stop sanding the target plate.

[0086] In the embodiment of the present application, when the target plate leaves the first position to be sanded, the target sanding component can be controlled to rise, and the sanding operation on the target plate can be stopped.

[0087] Specifically, in one embodiment of the present application, the conveyor belt of the sanding machine includes N areas, N is a positive integer, and the N areas are N areas sorted in sequence. The first target information is determined based on the radio frequency signal of the target area collected by the radio frequency device, and the target area is the i-th area among the N areas, and i is a positive integer less than or equal to N; the sanding machine includes a piano-key sanding machine, and the target sanding part includes N piano keys, and the N keys correspond one-to-one to the N areas; for any one of the N areas, the area and the key corresponding to the area are located on the same straight line, and the direction of the straight line is the conveying direction of the conveyor belt. The controlling the target sanding component to stop sanding the target plate includes: determining a first control area corresponding to the target area based on an edge preset value and the target area, the first control area being the ijth area to the i+jth area among the N areas, the first control area including the target area, j being the edge preset value, and j being an integer greater than or equal to 0 and less than N; and controlling the key corresponding to the first control area in the target sanding component to rise.

[0088] In the embodiment of the present application, similar to controlling the falling of piano keys, the target area can be expanded, reduced or kept unchanged based on a preset edge preset value, thereby determining a first control area and controlling the rising of the keys corresponding to the first control area in the target sanding component.

[0089] However, it should be noted that when controlling the keys to rise in this way, it is easy to cause the keys that should fall to rise, which may easily lead to insufficient sanding of the board. Fig.10 , Fig.10 : is a schematic diagram of a specific example provided by the embodiment of the present application. The area where plate 2 is located is from the 1st area to the 8th area of ​​the conveyor belt (corresponding to signal point 1 to signal point 8), and the area where plate 1 is located is from the 10th area to the 20th area of ​​the conveyor belt (corresponding to signal point 10 to signal point 20), and the edge preset value is 2. The relative positions of plate 1 and plate 2 are as follows: Fig.10 As shown, when the plate 1 leaves the first group of key structures, the 8th to 22nd keys in the first group of key structures will be controlled to rise. At the same time, the first group of key structures is performing a sanding operation on the plate 2, and the 1st to 10th keys in the first group of key structures need to be controlled to fall. At this time, the keys 9 and 10 that were supposed to fall rise due to the departure of the plate 1. In order to solve this problem, the embodiment of the present application provides a secondary control method.

[0090] Specifically, in one embodiment of the present application, the sanding machine includes K sanding parts, K is a positive integer, the target sanding part is one of the K sanding parts, and each of the N areas corresponds to an array; after controlling the key corresponding to the first control area in the target sanding part to rise, the method further includes: determining a second control area based on the edge preset value and the first control area; the second control area includes Q areas, Q is an integer greater than 1 and less than or equal to N; for the kth area among the Q areas, k is a positive integer less than or equal to Q, in the case where the kth area is not the target area In this case, based on the edge preset value and the kth area, the third control area of ​​the kth area is determined; the array corresponding to the kth area corresponds to K last read indexes, the K last read indexes correspond to the K sanding parts one-to-one, and the target sanding part corresponds to the target last read index in the K last read indexes; the second storage content indicated by the target last read index is obtained from the array corresponding to the kth area, and when the second storage content includes the first marking information, it is determined that the keys in the third control area are performing the sanding operation, and the keys in the target sanding part corresponding to the third control area are controlled to fall.

[0091] In the embodiments of the present application, the following will be combined Fig.11 Introducing this process, Fig.11 FIG. 1 is another flow chart of controlling a piano-key sanding machine provided in an embodiment of the present application. Fig.11 and Fig. 9 Only the content of the dotted box is different. The following will specifically describe the content of the dotted box. For other contents, please refer to Fig. 9 The introduction of Fig.11As shown, after determining the first control area corresponding to the i-th radio frequency signal and controlling the key corresponding to the first control area in the target sanding component to rise, the influence range of the first control area can be determined. That is, based on the edge preset value (j) and the first control area (ij-th area to i+j-th area), the second control area (i-2j-th area to i+2j-th area) can be determined, and the second control area cannot exceed the range of N areas. For the k-th area (k is not equal to i) in the second control area, the following operations can be performed: based on the edge preset value and the k-th area, the third control area is determined. The second storage content indicated by the last read index of the target (the last read index corresponding to the y-th key structure) is obtained from the array corresponding to the k-th area. When the second storage content includes the first mark information, it is determined that the key in the third control area is performing a sanding operation, and the key corresponding to the third control area in the target sanding component is controlled to fall.

[0092] Through this control process of rising first and falling later, the situation that the keys that should fall rise can be avoided, and sufficient sanding of the board can be ensured.

[0093] In the embodiment of the present application, when the target plate arrives at the first position to be sanded, the target sanding component can be controlled to perform a sanding operation on the target plate at the first position to be sanded. When the target plate leaves the first position to be sanded, the target sanding component can be controlled to stop sanding the target plate to avoid continuous operation of the target sanding component.

[0094] See also Fig.12 , Fig.12 1 is a specific flow chart of a control method for a sanding machine provided in an embodiment of the present application. Fig.12 As shown, the method comprises the following steps: Step 1210: Acquire a first time point, where the first time point is the time point when the radio frequency device switches from a no-signal state to a radio frequency signal output state.

[0095] Step 1220: Obtain a first moving distance of the target plate in a first time period; the first time period is a time period from a preset time point to the first time point.

[0096] After obtaining the first moving distance of the target plate in the first time period, the first moving distance and first marking information can be stored in the target array, and the first marking information is used to identify that the first moving distance is obtained when the target plate enters the action area of ​​the radio frequency device. The first distance is determined based on the first moving distance read from the target array, and the target plate is located at the first position to be sanded based on the first marking information when the first distance is greater than or equal to the first target distance.

[0097] Step 1230: Determine a first distance between the current position of the target plate and the radio frequency device based on the first moving distance.

[0098] The sanding machine includes K sanding parts, K is a positive integer, and the target sanding part is one of the K sanding parts; the target array corresponds to a write index and K read indexes, and the first moving distance and the first marking information are stored in the target storage position indicated by the write index corresponding to the target array; the K read indexes correspond one-to-one to the K sanding parts, and the target sanding part corresponds to the first read index among the K read indexes.

[0099] In the process of determining the first distance between the current position of the target plate and the radio frequency device based on the first moving distance, the following method can be adopted: determining the second moving distance of the target plate in a second time period, the second time period being a time period from the preset time point to a detection time point after the first time point; obtaining the first storage content indicated by the first read index from the target array; and when the first storage content includes the first moving distance, determining the distance difference between the second moving distance and the first moving distance as the first distance between the current position of the target plate and the radio frequency device.

[0100] In one embodiment of the present application, the sanding machine includes a first sanding component and a second sanding component, and the target sanding component is the first sanding component; the target plate is located at the first position to be sanded when the first distance is greater than or equal to the first target distance and less than the second target distance, the first target distance is the distance between the radio frequency device and the first sanding component, the second target distance is the distance between the radio frequency device and the second sanding component, and the first target distance is less than the second target distance. After determining the first distance between the current position of the target plate and the radio frequency device, when the first distance is greater than or equal to the second target distance, it can be determined that the target plate is located at the second position to be sanded; and the second sanding component is controlled to perform a sanding operation on the target plate located at the second position to be sanded.

[0101] Step 1240: When the first distance is greater than or equal to a first target distance, determine that the target plate is located at a first position to be sanded; wherein the first target distance is the distance between the radio frequency device and a target sanding component of the sanding machine.

[0102] The first position to be sanded includes a vertical projection area of ​​the target sanding component on the conveyor belt.

[0103] Step 1250: Based on the edge preset value and the target area, determine a first control area corresponding to the target area, control the keys corresponding to the first control area in the target sanding component to fall, and perform a sanding operation on the target plate located in the target area.

[0104] The target plate is set on the conveyor belt of the sanding machine, and the conveyor belt of the sanding machine includes N areas, N is a positive integer, and each area in the N areas corresponds to an array. The target area is the i-th area in the N areas, and i is a positive integer less than or equal to N; the sanding machine includes a piano-key sanding machine, and the target sanding component includes N piano keys, and the N piano keys correspond one to one with the N areas. For any area in the N areas, the area and the piano key corresponding to the area are located on the same straight line, and the direction of the straight line is the conveying direction of the conveyor belt. The first control area is the ij-th area to the i+j-th area in the N areas, and the first control area includes the target area, j is the edge preset value, and j is an integer greater than or equal to 0 and less than N.

[0105] Step 1260: Acquire a second time point, where the second time point is the time point when the radio frequency device switches from a state with radio frequency signal output to a state without signal.

[0106] Step 1270: Determine second target information, where the second target information includes a third moving distance of the target plate in a third time period, where the third time period is a time period from a preset time point to the second time point; the second target information is information obtained when the target plate leaves the action area of ​​the radio frequency device.

[0107] In an embodiment of the present application, the first moving distance and the third moving distance are obtained when the same plate passes through the radio frequency device; after determining the second target information, the second distance difference between the first moving distance and the third moving distance can be determined; when the second distance difference is greater than a threshold, abnormal information of the radio frequency device is determined.

[0108] Step 1280: Based on the second target information, determine a second distance between the current position of the target plate and the radio frequency device.

[0109] Step 1290: When the second distance is greater than or equal to the first target distance, determine that the target plate leaves the first position to be sanded, and control the target sanding component to stop sanding the target plate.

[0110] In the process of controlling the target sanding component to stop sanding the target plate, the following method can be adopted: based on the edge preset value and the target area, determining a first control area corresponding to the target area, the first control area is the ijth area to the i+jth area among the N areas, the first control area includes the target area, j is the edge preset value, j is an integer greater than or equal to 0 and less than N; controlling the key corresponding to the first control area in the target sanding component to rise.

[0111] After the key corresponding to the first control area in the target sanding component is controlled to rise, a second control area may be determined based on the edge preset value and the first control area; the second control area includes Q areas, Q is an integer greater than 1 and less than or equal to N. For the kth area among the Q areas, k is a positive integer less than or equal to Q, and when the kth area is not the target area, a third control area of ​​the kth area is determined based on the edge preset value and the kth area; the array corresponding to the kth area corresponds to K last read indexes, the K last read indexes correspond to the K sanding components one-to-one, and the target sanding component corresponds to the target last read index in the K last read indexes; the second storage content indicated by the target last read index is obtained from the array corresponding to the kth area, and when the second storage content includes the first mark information, it is determined that the key in the third control area is performing a sanding operation, and the key corresponding to the third control area in the target sanding component is controlled to fall.

[0112] In an embodiment of the present application, during the movement of the target plate, the first target information is determined by the radio frequency signal of the radio frequency device, and the first target information is information obtained when the target plate enters the action area of ​​the radio frequency device; based on the first target information, the first distance between the current position of the target plate and the radio frequency device is determined; when the first distance is greater than or equal to the first target distance, the target plate is determined to be located at the first position to be sanded; wherein the first target distance is the distance between the radio frequency device and the target sanding component of the sanding machine; the target sanding component is controlled to perform a sanding operation on the target plate located at the first position to be sanded. In this way, the first distance between the current position of the target plate and the radio frequency device can be determined by the radio frequency signal collected by the radio frequency device, so that when the first distance is greater than or equal to the first target distance, the target plate is determined to be located at the first position to be sanded, and the target sanding component is controlled to perform a sanding operation on the target plate located at the first position to be sanded. Compared with the contact probe technology used in the related art, this method will not cause damage to the surface of the target plate, and solves the problem of the related art that the surface of the detected object is easily damaged. In addition, this method is not easy to cause mechanical wear and has a long service life.

[0113] At the same time, it should be understood that a control method for a sanding machine provided in an embodiment of the present application may have the following beneficial effects: First, a radio frequency device is introduced, and a radio frequency detection method is used to realize plate detection. This radio frequency detection method is a non-contact detection method, which will not scratch the surface of the plate and has no mechanical wear, has a long service life, and the radio frequency detection method has strong resistance to external dust environments. Second, a circular array is introduced, and after a large number of radio frequency signals are cleaned, valid data is retained and stored in the array. The array is read and written by moving the array index, which can effectively reduce the CPU load. Third, by setting the last read index of the array, the control operation executed last time can be memorized, and through the secondary opening method, complex key control functions can be realized, thereby meeting the needs of the sanding process. Fourth, a method for detecting abnormal radio frequency signals is provided, which can promptly detect hardware abnormalities of the radio frequency device.

[0114] See also Fig.13 , Fig.13 : is a structural block diagram of a control device for a sanding machine provided in an embodiment of the present application. Fig.13 As shown, the embodiment of the present application provides a control device 1300 for a sanding machine, and the control device 1300 for the sanding machine includes: a determination module 1310 and a control module 1320 .

[0115] The determination module 1310 is used to determine first target information through the radio frequency signal of the radio frequency device during the movement of the target plate, wherein the first target information is information obtained when the target plate enters the action area of ​​the radio frequency device; based on the first target information, determine a first distance between the current position of the target plate and the radio frequency device; when the first distance is greater than or equal to a first target distance, determine that the target plate is located at a first position to be sanded; wherein the first target distance is the distance between the radio frequency device and the target sanding component of the sanding machine; The control module 1320 is used to control the target sanding component to perform a sanding operation on the target plate located at the first to-be-sanded position.

[0116] In an embodiment of the present application, during the movement of the target plate, the first target information is determined by the radio frequency signal of the radio frequency device, and the first target information is information obtained when the target plate enters the action area of ​​the radio frequency device; based on the first target information, the first distance between the current position of the target plate and the radio frequency device is determined; when the first distance is greater than or equal to the first target distance, the target plate is determined to be located at the first position to be sanded; wherein the first target distance is the distance between the radio frequency device and the target sanding component of the sanding machine; the target sanding component is controlled to perform a sanding operation on the target plate located at the first position to be sanded. In this way, the first distance between the current position of the target plate and the radio frequency device can be determined by the radio frequency signal collected by the radio frequency device, so that when the first distance is greater than or equal to the first target distance, the target plate is determined to be located at the first position to be sanded, and the target sanding component is controlled to perform a sanding operation on the target plate located at the first position to be sanded. Compared with the contact probe technology used in the related art, this method will not cause damage to the surface of the target plate, and solves the problem of the related art that the surface of the detected object is easily damaged. In addition, this method is not easy to cause mechanical wear and has a long service life.

[0117] The control device of the sanding machine provided in the embodiment of the present application can implement each process implemented in the above method embodiment, and will not be described again here to avoid repetition.

[0118] like Fig.14As shown, the embodiment of the present application also provides an electronic device 1400. The electronic device 1400 includes: a processor 1410 and a memory 1420, and the memory 1420 stores a program or instruction, and the program or instruction is executed by the processor 1410 to implement the steps of any of the methods described above. For example, when the program is executed by the processor 1410, the following process is implemented: in the process of moving the target plate, the first target information is determined by the radio frequency signal of the radio frequency device, and the first target information is information obtained when the target plate enters the action area of ​​the radio frequency device; based on the first target information, the first distance between the current position of the target plate and the radio frequency device is determined; when the first distance is greater than or equal to the first target distance, it is determined that the target plate is located at the first position to be sanded; wherein the first target distance is the distance between the radio frequency device and the target sanding component of the sanding machine; the target sanding component is controlled to perform a sanding operation on the target plate located at the first position to be sanded. In this way, the first distance between the current position of the target plate and the RF device can be determined by the RF signal collected by the RF device, so that when the first distance is greater than or equal to the first target distance, the target plate is determined to be located at the first position to be sanded, and the target sanding component is controlled to perform a sanding operation on the target plate located at the first position to be sanded. Compared with the contact probe technology used in the related art, this method will not cause damage to the surface of the target plate, solving the problem of the related art that the surface of the detected object is easily damaged. In addition, this method is not prone to mechanical wear and has a longer service life.

[0119] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of each embodiment of the control method of the sanding machine are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0120] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0121] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0122] An embodiment of the present application provides a computer program product, which is stored in a storage medium. The program product is executed by at least one processor to implement the various processes of the above-mentioned method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0123] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0124] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0125] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A control method for a sanding machine, characterized in that: include: During the movement of the target plate, first target information is determined through the radio frequency signal of the radio frequency device, where the first target information is information obtained when the target plate enters the action area of ​​the radio frequency device; Based on the first target information, determining a first distance between a current position of the target plate and the radio frequency device; When the first distance is greater than or equal to a first target distance, determining that the target plate is located at a first position to be sanded; wherein the first target distance is the distance between the radio frequency device and a target sanding component of the sanding machine; The target sanding component is controlled to perform a sanding operation on the target plate located at the first position to be sanded.

2. The method according to claim 1, characterized in that The first target information includes a first moving distance of the target plate in a first time period; the first target information is determined by the radio frequency signal of the radio frequency device, including: Acquire a first time point, where the first time point is a time point when the radio frequency device switches from a no-signal state to a radio frequency signal output state; A first moving distance of the target plate in a first time period is obtained; the first time period is a time period from a preset time point to the first time point.

3. The method according to claim 2, characterized in that After obtaining the first moving distance of the target plate in the first time period, the method further includes: storing the first moving distance and first marking information in a target array, wherein the first marking information is used to identify that the first moving distance is obtained when the target plate enters an action area of ​​the radio frequency device; The first distance is determined based on the first moving distance read from the target array, and the target plate is located at the first position to be sanded based on the first marking information when the first distance is greater than or equal to the first target distance.

4. The method according to claim 3, characterized in that: The sanding machine includes K sanding components, K is a positive integer, and the target sanding component is one of the K sanding components; the target array corresponds to a write index and K read indexes, and the first moving distance and the first marking information are stored in a target storage position indicated by the write index corresponding to the target array; the K read indexes correspond to the K sanding components one by one, and the target sanding component corresponds to the first read index among the K read indexes; The determining, based on the first target information, a first distance between the current position of the target plate and the radio frequency device includes: Determine a second moving distance of the target plate in a second time period, where the second time period is a time period from the preset time point to a detection time point after the first time point; Acquire the first storage content indicated by the first read index from the target array; In a case where the first storage content includes the first moving distance, the distance difference between the second moving distance and the first moving distance is determined as the first distance between the current position of the target plate and the radio frequency device.

5. The method according to claim 1, characterized in that The target plate is set on the conveyor belt of the sanding machine, the conveyor belt of the sanding machine includes N areas, N is a positive integer, the first target information is determined based on the radio frequency signal of the target area collected by the radio frequency device, the target area is the i-th area among the N areas, i is a positive integer less than or equal to N; the sanding machine includes a piano-key sanding machine, the target sanding component includes N piano keys, and the N piano keys correspond to the N areas one by one; The controlling the target sanding component to perform a sanding operation on the target plate located at the first position to be sanded includes: Based on the edge preset value and the target area, determine a first control area corresponding to the target area, the first control area is the ijth area to the i+jth area among the N areas, the first control area includes the target area, j is the edge preset value, and j is an integer greater than or equal to 0 and less than N; The keys corresponding to the first control area in the target sanding component are controlled to fall, and a sanding operation is performed on the target plate located in the target area.

6. The method according to claim 1, characterized in that After determining the first target information, the method further includes: Acquire a second time point, where the second time point is a time point when the radio frequency device switches from a state with radio frequency signal output to a state with no signal; Determine second target information, the second target information includes a third moving distance of the target plate in a third time period, the third time period is a time period from a preset time point to the second time point; the second target information is information obtained when the target plate leaves the action area of ​​the radio frequency device; Based on the second target information, determining a second distance between the current position of the target plate and the radio frequency device; When the second distance is greater than or equal to the first target distance, determining that the target plate leaves the first position to be sanded; The target sanding component is controlled to stop sanding the target plate.

7. The method according to claim 6, characterized in that The conveyor belt of the sanding machine includes N areas, N is a positive integer, and the N areas are N areas arranged in sequence. The first target information is determined based on the radio frequency signal of the target area collected by the radio frequency device. The target area is the i-th area among the N areas, and i is a positive integer less than or equal to N. The sanding machine includes a piano-key sanding machine, and the target sanding part includes N piano keys, and there is a one-to-one correspondence between the N piano keys and the N areas. The controlling the target sanding component to stop sanding the target plate includes: Based on the edge preset value and the target area, determine a first control area corresponding to the target area, the first control area is the ijth area to the i+jth area among the N areas, the first control area includes the target area, j is the edge preset value, and j is an integer greater than or equal to 0 and less than N; The key corresponding to the first control area in the target sanding component is controlled to rise.

8. The method according to claim 7, characterized in that The sanding machine includes K sanding parts, K is a positive integer, the target sanding part is one of the K sanding parts, and each of the N areas corresponds to an array; after controlling the key corresponding to the first control area in the target sanding part to rise, the method further includes: Based on the edge preset value and the first control area, determining a second control area; the second control area includes Q areas, where Q is an integer greater than 1 and less than or equal to N; For the kth area among the Q areas, k is a positive integer less than or equal to Q. When the kth area is not the target area, based on the edge preset value and the kth area, the third control area of ​​the kth area is determined; the array corresponding to the kth area corresponds to K last read indexes, and there is a one-to-one correspondence between the K last read indexes and the K sanding components, and the target sanding component corresponds to the target last read index among the K last read indexes; the second storage content indicated by the target last read index is obtained from the array corresponding to the kth area, and when the second storage content includes the first marking information, it is determined that the keys in the third control area are performing a sanding operation, and the keys in the target sanding component corresponding to the third control area are controlled to fall.

9. The method according to claim 1, characterized in that: The sanding machine comprises a first sanding component and a second sanding component, and the target sanding component is the first sanding component; the target plate is located at the first position to be sanded when the first distance is greater than or equal to a first target distance and less than a second target distance, the first target distance is the distance between the radio frequency device and the first sanding component, the second target distance is the distance between the radio frequency device and the second sanding component, and the first target distance is less than the second target distance; After determining a first distance between the current position of the target plate and the radio frequency device, the method further includes: When the first distance is greater than or equal to the second target distance, determining that the target plate is located at a second position to be sanded; The second sanding component is controlled to perform a sanding operation on the target plate located at the second position to be sanded.

10. The method according to claim 6, characterized in that The first target information includes a first moving distance of the target plate in a first time period, the first time period is a time period from a preset time point to a first time point, the first time point is a time point when the radio frequency device switches from a no-signal state to a radio frequency signal output state; the first moving distance and the third moving distance are obtained when the same plate passes through the radio frequency device; after determining the second target information, the method further includes: determining a second distance difference between the first moving distance and the third moving distance; When the second distance difference is greater than a threshold, abnormal information of the radio frequency device is determined.

11. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores programs or instructions, and when the programs or instructions are executed by the processor, the steps of the method according to any one of claims 1 to 10 are implemented.

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