Control Method of Sander and Electronic Device

Abstract

The present application discloses a control method and an electronic device for a sander, belonging to the technical field of sanders. The method includes: during the movement of a target board, determining first target information through a radio frequency signal of a radio frequency device, where the first target information is information obtained when the target board enters the 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; when the first distance is greater than or equal to a first target distance, determining that the target board is located at a first position to be sanded; where the first target distance is the distance between the radio frequency device and a target sanding component of the sander; controlling the target sanding component to perform a sanding operation on the target board located at the first position to be sanded.

Description

Technical Field

[0001] This application belongs to the technical field of sanding machines, and specifically relates to a control method and an electronic device for a sanding machine. Background Art

[0002] Sanding refers to the treatment of some uneven, uneven in thickness, and materials and objects that do not meet the process requirements through physical removal methods such as gauze, grinding wheels, and sandpaper, making them smoother, flatter, and uniform in thickness. A sanding machine is a mechanical device for completing sanding work. To improve production efficiency, an automatic conveying device is generally used to convey the board to the conveyor belt of the sanding machine, and the sanding components on the conveyor belt perform sanding operations on the board.

[0003] During the entire sanding operation, it is necessary to detect the board, so as to control the sanding components to perform sanding operations on the board when there is a board on the conveyor belt under the sanding components.

[0004] In the process of realizing the detection of the board, related technologies usually use contact probe technology. This technology requires the probe to contact the surface of the object to be detected, resulting in relatively serious mechanical wear and easily damaging the surface of the object to be detected. Summary of the Invention

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

[0006] In a first aspect, the embodiments of this application provide a control method for a sanding machine, and the method includes:

[0007] During the movement of the target board, determine first target information through the radio frequency signal of the radio frequency device, where the first target information is the information obtained when the target board enters the action area of the radio frequency device;

[0008] Based on the first target information, determine a first distance between the current position of the target board and the radio frequency device;

[0009] When the first distance is greater than or equal to a first target distance, determine that the target board is located at a first position to be sanded; where the first target distance is the distance between the radio frequency device and the target sanding component of the sanding machine;

[0010] Control the target sanding component to perform sanding operations on the target board located at the first position to be sanded.

[0011] In a second aspect, an embodiment of the present application provides an electronic device, which includes a processor and a memory. 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.

[0012] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, on which programs or instructions are stored, and when the programs or instructions are executed, the steps of the method described in the first aspect are implemented.

[0013] 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, the steps of the method described in the first aspect are implemented.

[0014] The above at least one technical solution provided by the embodiments of the present application can achieve the following technical effects:

[0015] In the embodiment of the present application, during the movement of the target board, first target information is determined through the radio frequency signal of the radio frequency device, and the first target information is the information obtained when the target board enters the action area of the radio frequency device; based on the first target information, a first distance between the current position of the target board and the radio frequency device is determined; when the first distance is greater than or equal to a first target distance, it is determined that the target board 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 sander; the target sanding component is controlled to perform a sanding operation on the target board located at the first position to be sanded. In this way, the first distance between the current position of the target board and the radio frequency device can be determined through 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, it is determined that the target board is located at the first position to be sanded, and the target sanding component is controlled to perform a sanding operation on the target board located at the first position to be sanded. Compared with the contact probe technology used in the related art, this method will not damage the surface of the target board, and solves the problem in the related technology that it is easy to damage the surface of the detected object. In addition, this method is not easy to cause mechanical wear and has a long service life. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 It is a flowchart of a control method for a sander provided by an embodiment of the present application;

[0018] Figure 2 It is a schematic diagram of a sander provided by an embodiment of the present application;

[0019] Figure 3 It is a schematic diagram of the correspondence between radio frequency signals and key control points provided by an embodiment of the present application;

[0020] Figure 4 It is a flowchart of another control method for a sander provided by an embodiment of the present application;

[0021] Figure 5 It is a schematic diagram of a key - type sander control system provided by an embodiment of the present application;

[0022] Figure 6 It is a schematic diagram of a circular array provided by an embodiment of the present application;

[0023] Figure 7 It is a flowchart of an array storage process provided by an embodiment of the present application;

[0024] Figure 8 It is a flowchart of another control method for a sander provided by an embodiment of the present application;

[0025] Figure 9 It is a schematic diagram of a process for controlling a key - type sander provided by an embodiment of the present application;

[0026] Figure 10 It is a schematic diagram of a specific example provided by an embodiment of the present application;

[0027] Figure 11 It is a schematic diagram of another process for controlling a key - type sander provided by an embodiment of the present application;

[0028] Figure 12 It is a specific flowchart of a control method for a sander provided by an embodiment of the present application;

[0029] Figure 13 It is a structural block diagram of a control device for a sander provided by an embodiment of the present application;

[0030] Figure 14 It is a structural block diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0031] Next, the technical solutions in the embodiments of the present application will be clearly described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0032] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are usually of the same category, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally means that the related objects before and after are in an "or" relationship.

[0033] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0034] During the entire sanding operation, the detection of the processed board is one of the key steps in automated sanding. Currently, the detection of the processed board is mainly achieved through sensors in cooperation with a control system. Among them, the related technologies usually adopt the following three methods: The first method is to use laser 3D scanning technology, which uses the principles of line laser and Charge Coupled Device (CCD) imaging. The second method is to use machine vision technology, which uses the principles of multi-angle industrial cameras and Artificial Intelligence (AI) algorithms. The third method is to use contact probe technology, which uses the principle of mechanical probe touch measurement of the contour.

[0035] Among them, the laser 3D scanning technology and optical imaging technology used in the first and second methods above have problems such as high equipment costs and being easily affected by the dust environment, and the third method above has problems such as serious mechanical wear and short service life.

[0036] The control method of the sander provided by the embodiment of the present application can determine whether the target board is located at the first position to be sanded through the radio frequency signal collected by the radio frequency device. The cost of the radio frequency device is relatively low, and the radio frequency signal is not easily affected by the dust environment, solving the problems of high equipment cost and susceptibility to the dust environment existing in the first and second methods. Moreover, this radio frequency detection technology belongs to non-contact detection technology. The radio frequency device does not contact the board, with less mechanical wear and a longer service life, solving the problems of serious mechanical wear and short service life existing in the third method.

[0037] The control method of the sander provided by the embodiment of the present application is applied to the sander 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 board and the radio frequency device. Thus, when the first distance is greater than or equal to the first target distance, it is determined that the target board 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 sander, and further control the target sanding component to perform a sanding operation on the target board located at the first position to be sanded.

[0038] The control method of the sander provided by the embodiment of the present application can be executed by the target device. Among them, the target device can be the control device of the sander, and the control system of the sander is set on the control device.

[0039] The following combines the accompanying drawings and details the control method of the sander provided by the embodiment of the present application through specific embodiments and their application scenarios.

[0040] Please refer to Figure 1 , Figure 1 which is a flowchart of a control method of a sander provided by an embodiment of the present application. As Figure 1 shown, the method includes the following steps:

[0041] Step 110: During the movement of the target board, determine the first target information through the radio frequency signal of the radio frequency device. The first target information is the information obtained when the target board enters the action area of the radio frequency device.

[0042] In the embodiment of the present application, the radio frequency device is an electronic device that senses using electromagnetic wave signals. 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 board is transported to the sander, it can be moved to the first position to be sanded through the conveyor belt of the sander, so as to perform a sanding operation on the target board. The radio frequency device can be set at the board inlet of the sander (such as Figure 2As shown), so as to detect whether the target board enters the action area of the radio frequency device through the radio frequency signal collected by the radio frequency device. The action area of the radio frequency device may include the vertical projection area of the radio frequency device on the conveyor belt. In the case where the target board enters the action area of the radio frequency device, the first target information may be determined. Among them, the first target information may be, for example, the time point when the target board just enters the action area of the radio frequency device.

[0043] Step 120: Based on the first target information, determine the first distance between the current position of the target board and the radio frequency device.

[0044] In the embodiment of the present application, taking the first target information as the time point A when the target board just enters the action area of the radio frequency device as an example, the time point B for currently detecting whether the target board is located at the first position to be sanded and the rotation speed of the conveyor belt shaft of the sander can be obtained. The time difference between the time point A and the time point B can be determined, so as to determine the first distance between the current position of the target board and the radio frequency device through the rotation speed and the time difference.

[0045] Step 130: In the case where the first distance is greater than or equal to the first target distance, determine that the target board 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 sander.

[0046] In the embodiment of the present application, the first distance between the current position of the target board and the radio frequency device can be determined in real time according to different detection time points. In the case where the target board is not located at the first position to be sanded, the first distance is less than the first target distance. Until the first distance determined at a certain detection time point is greater than or equal to the first target distance, it can be explained that the target board just enters the first position to be sanded at this time. Among them, the first position to be sanded is the vertical projection area of the target sanding component on the conveyor belt of the sander.

[0047] Step 140: Control the target sanding component to perform a sanding operation on the target board located at the first position to be sanded.

[0048] In the embodiment of the present application, after determining that the target board is located at the first position to be sanded, the target sanding component can be controlled to drop, so as to perform a sanding operation on the target board located at the first position to be sanded. Reference can be made to Figure 2 , Figure 2 is a schematic diagram of a sander provided by an embodiment of the present application. The sander may include a plurality of sanding components, such as Figure 2 the multi-group key structures in Figure 2The first set of key structures, the second set of key structures, and other sets of key structures (not shown), abrasive belts, abrasive rollers, etc. The target sanding component can be one of the multiple sanding components. Taking the target sanding component as Figure 2 Taking the first set of key structures in [Example] as an example, when the board moves on the conveyor belt to the first position to be sanded (i.e., Figure 2 below the first set of key structures in [Example]), the first set of key structures can be controlled to drop, and the abrasive belt provided on the first set of key structures is pressed onto the board, so as to perform a sanding operation on the board.

[0049] In an embodiment of the present application, the target board is arranged on the conveyor belt of the sander. The conveyor belt of the sander includes N regions, N is a positive integer. The first target information is determined based on the radio frequency signals of the target region collected by the radio frequency device. The target region is the i-th region among the N regions, and i is a positive integer less than or equal to N; the sander includes a key-type sander, and the target sanding component includes N keys, and there is a one-to-one correspondence between the N keys and the N regions. During the process of controlling the target sanding component to perform a sanding operation on the target board located at the first position to be sanded, the first control region corresponding to the target region can be determined based on the edge preset value and the target region. The first control region is the (i - j)-th region to the (i + j)-th region among the N regions, and the first control region includes the target region, where j is the edge preset value, and j is an integer greater than or equal to 0 and less than N. Control the keys corresponding to the first control region in the target sanding component to drop, and perform a sanding operation on the target board located within the target region.

[0050] In an embodiment of the present application, the conveyor belt includes N regions divided along the conveying direction of the conveyor belt. The dividing line direction between any two adjacent regions among the N regions can be the conveying direction of the conveyor belt. The sizes, lengths, and widths of the N regions can be the same, and the conveyor belt can be evenly divided into N regions with the same width based on a preset width. The radio frequency device can collect radio frequency signals of the N regions to obtain Figure 3 the N radio frequency signals shown (Signal 1, Signal 2...... Signal N). There is a one-to-one correspondence between the N regions and the N keys of the target sanding component. That is to say, the i-th region among the N regions corresponds to the i-th key among the N keys, and 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. Taking Figure 3 as an example, the target sanding component can be, for example, the first set of key structures. The 1st region can be on the same straight line as the 1st key of the first set of key structures, and the direction of the straight line is Figure 3 the conveying direction of the conveyor belt shown.

[0051] In an embodiment of the present application, the sanding component may include a sanding component with a key structure, that is, the lifting control of the key structure of the sander can be performed. Each sanding component includes N keys and N solenoid valves. There is a one-to-one correspondence between the N keys and the N regions, and there is also a one-to-one correspondence between the N keys and the N solenoid valves. For one of the N solenoid valves, the solenoid valve is connected to the corresponding key through a connecting rod, and the control device can further control the rising and falling of the key by controlling the opening and closing of the solenoid valve. When the key falls, the sanding belt below the key will be pressed onto the surface of the board, thereby achieving an accurate sanding effect on the board.

[0052] There is a corresponding relationship between the radio frequency signal collected by the radio frequency device and the key control points. Reference can be made to Figure 3 , Figure 3 which is a schematic diagram of the corresponding relationship between the radio frequency signal and the key control points provided by an embodiment of the present application. As shown in Figure 3 and Table 1, taking the four groups of key structures in Figure 3 as an example, the keys corresponding to the radio frequency signal (Signal 1) collected in the first region are the No. 1 key of the first group of key structures, the No. 1 key of the second group of key structures, the No. 1 key of the third group of key structures, and the No. 1 key of the fourth group of key structures. The keys corresponding to the radio frequency signal (Signal 2) collected in the second region are the No. 2 key of the first group of key structures, the No. 2 key of the second group of key structures, the No. 2 key of the third group of key structures, and the No. 2 key of the fourth group of key structures. Similarly, the keys corresponding to the radio frequency signal (Signal i) collected in the i-th region are the No. i key of the first group of key structures, the No. i key of the second group of key structures, the No. i key of the third group of key structures, and the No. i key 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.

[0053]

[0054] Table 1

[0055] There is a one-to-one correspondence between the N radio frequency signals and the N regions, that is, there is a corresponding relationship between each region and the key control points. For example, the first region may correspond to the No. 1 key of the first group of key structures, the No. 1 key of the second group of key structures, the No. 1 key of the third group of key structures, and the No. 1 key of the fourth group of key structures.

[0056] In the process of controlling the rising and falling of the keys in the sanding component, considering that multiple boards will be sanded before and after, and there will be overlapping parts in the signal regions of the boards. Therefore, in order to ensure that the edge parts of each board are not missed during sanding, or for special sanding processes where the edges of the boards do not need to be sanded, a method of enlarging, reducing, or keeping unchanged the key control area through the edge set value is proposed.

[0057] For the i-th region among the N regions, the i-th region corresponds to the i-th key in the target sanding component. During the process of controlling the target sanding component to sand the target board located at the first position to be sanded, first, based on the edge preset value (denoted as iExtendCount), the first control range corresponding to the i-th region can be determined. 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. During the process of determining the first control range, the determined first control range may exceed the range of the N regions. In response to 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 can be [1, i + iExtendCount]; if i - iExtendCount is greater than 0 and i + iExtendCount is greater than N, the first control range can 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 can be [1, N].

[0058] During the process of setting the edge preset value, the edge preset value can be less than 0, which is used to indicate that the sanding component descends less to ensure that the edge of the board is not sanded; the edge preset value can also be equal to 0, which is used to indicate that the sanding component descends according to the radio frequency signal and sands according to the actual detection area of the board; the edge preset value can also be greater than 0, which is used to indicate that the sanding component descends more to ensure that the edge of the board is fully sanded.

[0059] For example, when a certain board passes through, the radio frequency signals collected in the 10th to 20th regions are detected to change from no signal to having a signal. When the edge preset value is 2, during the process of controlling the target sanding component, the corresponding key control range is [10 - 2, 20 + 2], that is, control the 8th to 22nd keys of the target sanding component to descend. When the edge preset value is 0, during the process of controlling the target sanding component, the corresponding key control range is [10 - 0, 20 + 0], that is, control the 10th to 20th keys of the target sanding component to descend. When the edge preset value is -2, during the process of controlling the target sanding component, the corresponding key control range is [10 - (-2), 20 + (-2)], that is, control the 12th to 18th keys of the target sanding component to descend.

[0060] In one embodiment of the present application, the sander includes a first sanding component and a second sanding component, and the target sanding component is the first sanding component; the target board is determined to be at the first sanding position 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 board 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 board is at the second sanding position; the second sanding component is controlled to perform a sanding operation on the target board at the second sanding position.

[0061] In an embodiment of the present application, the second sanding position is the vertical projection area of the second sanding component on the conveyor belt. The sanding components of the sander include K sets of key structures. Here, 4 sets of key structures are taken as an example for introduction, and each set of key structures includes N keys. The distances between the radio frequency device and each set of key structures can be determined respectively. Denote the distance between the radio frequency device and the first set of key structures as L1, the distance between the first set of key structures and the second set of key structures as L2, the distance between the second set of key structures and the third set of key structures as L3, and the distance between the third set of key structures and the fourth set of key structures as L4.

[0062] During the process of controlling the sander to perform the sanding operation, it can be processed in areas sequentially. That is to say, the radio frequency signal of the first area among the N areas can be processed first, and then the radio frequency signal of the second area can be processed until the radio frequency signal of the Nth area is processed, and the control operation of one control cycle of the control system can be completed. When processing the radio frequency signal of the ith area among the N areas, the K key structures of the sander can be controlled sequentially. That is to say, the first set of key structures can be controlled first, and then the second set of key structures can be controlled until the control of the Kth set of key structures is completed, and then the next area can be processed.

[0063] For example, the first sanding component can be the first set of key structures among the 4 sets of key structures, and the second sanding component can be the second set of key structures among the 4 sets of key structures. When the first distance between the target board 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 board has completely passed through the first set of key structures, that is, has completely left the first sanding position and reached the second sanding position. The second sanding component can be controlled to perform a sanding operation on the target board at the second sanding position.

[0064] In an embodiment of the present application, during the movement of the target board, first target information is determined through a radio frequency signal of a radio frequency device, where the first target information is information obtained when the target board enters the action area of the radio frequency device; based on the first target information, a first distance between the current position of the target board and the radio frequency device is determined; when the first distance is greater than or equal to a first target distance, it is determined that the target board is located at a first position to be sanded; where the first target distance is the distance between the radio frequency device and a target sanding component of the sander; the target sanding component is controlled to perform a sanding operation on the target board located at the first position to be sanded. In this way, the first distance between the current position of the target board and the radio frequency device can be determined through 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, it is determined that the target board is located at the first position to be sanded, and the target sanding component is controlled to perform a sanding operation on the target board located at the first position to be sanded. Compared with the contact probe technology used in the related art, this method will not damage the surface of the target board, and solves the problem in the related art that it is easy to damage the surface of the detected object. In addition, this method is not prone to mechanical wear and has a long service life.

[0065] Please refer to Figure 4 , Figure 4 is a flowchart of another control method for a sander provided by an embodiment of the present application. As Figure 4 shown, the method includes the following steps:

[0066] Step 410: Obtain 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 state of outputting a radio frequency signal.

[0067] In an embodiment of the present application, the radio frequency device may be arranged above the conveyor belt. The radio frequency device is used to determine whether there is a board in the action area of the radio frequency device through radio frequency detection. 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. When there is no board in the action area of the radio frequency device, the radio frequency device cannot receive the electromagnetic wave signal; when there is a board in the action area of the radio frequency device, the radio frequency device can receive the electromagnetic wave signal reflected by the board. Therefore, the radio frequency device can determine whether the board is located in the action area of the radio frequency device by whether it receives the electromagnetic wave signal.

[0068] That is to say, when the radio frequency device switches from a no-signal state to a state of outputting a radio frequency signal, it indicates that the board starts 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 board enters the first position to be sanded.

[0069] Step 420: Obtain the first moving distance of the target board in the first time period; the first time period is the time period from a preset time point to the first time point.

[0070] In an embodiment of the present application, a control system for a key-type sander is provided. Refer to Figure 5 , Figure 5 which is a schematic diagram of a control system for a key-type sander provided by an embodiment of the present application. As Figure 5 shown, the key-type sander control system includes a sander and a control device, and the control device is provided with a control system for the sander. A radio frequency device, an absolute encoder, and a sanding component are arranged on the conveyor belt of the sander, and the sanding component can be a sanding component with a key structure, such as Figure 5 the 4 groups of key structures in

[0071] Among them, the control system is the control center of the key-type sander control system, and is used for collecting various signals, controlling the operation of each mechanism of the sander, position control, speed control of the conveyor belt, parameter setting, and displaying working monitoring data, etc. The control system may include a signal reading module and a key control module. 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 key control module is used to control the falling or rising of the sanding component with a key structure.

[0072] An absolute encoder may be arranged on the conveyor belt roller of the sander. The absolute encoder can determine the moving distance of the conveyor belt during this period according to the rotation angle of the roller and the roller circumference within a period of time. A preset time point can be preset, and the absolute encoder can calculate in real time the transmission distance of the conveyor belt from the preset time point to the current time point. Since the target board moves on the conveyor belt, this distance is the moving distance of the target board from the preset time point to the current time point. In this way, after determining the first time point, the absolute encoder can determine the first moving distance of the target board in 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 can obtain the first moving distance of the target board in the first time period.

[0073] In an embodiment of the present application, considering that during the actual operation of the sander, a large number of boards need to be sanded. Different boards may enter the sander at different time points. To handle this complex situation, after obtaining the first moving distance of the target board in the first time period, the first moving distance and the first marking information may be stored in the target array, where the first marking information is used to identify that the first moving distance is obtained when the target board enters the action area of the radio frequency device. Wherein, the first distance is determined based on the first moving distance read from the target array, and it is determined based on the first marking information that the target board is located at the first position to be sanded when the first distance is greater than or equal to the first target distance.

[0074] In an embodiment of the present application, reference may be made to Figure 6 , Figure 6 which is a schematic diagram of a circular array provided by an embodiment of the present application. The target array may include a circular array as shown in Figure 6 . 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 (moving distance and marking information), where the marking information may include the first marking information and the second marking information. The first marking information is used to identify that the currently stored moving distance (such as the first moving distance) is obtained when the target board enters the action area of the radio frequency device, and the second marking information is used to identify that the currently stored moving distance (such as storing the third moving distance described later) is obtained when the target board leaves the action area of the radio frequency device.

[0075] In addition, considering that the area of the conveyor belt is usually large and multiple boards may be sanded at the same time. To achieve more precise control of the sanding component, the conveyor belt may be divided. The conveyor belt of the sander may include N areas, which are divided along the conveying direction of the conveyor belt. N is a positive integer and can be set according to actual needs. During the process of the radio frequency device collecting radio frequency signals, the radio frequency device may collect the radio frequency signals of each of the N areas, so as to accurately determine the area range where the board is located. For example, if the radio frequency signals collected only in the 2nd to 10th areas among the N areas change from no signal to having a signal, it means that the board is located at the position of the 2nd to 10th areas of the conveyor belt. The radio frequency signals collected by the radio frequency device may be transmitted to the control device in real time through a bus communication method (such as CAN-Bus or EtherCAT communication methods).

[0076] The signal reading module included in the control device can clean and store the radio frequency signals collected by the radio frequency device, and read and store the data transmitted by the absolute value encoder. The key control module included in the control system can control the sanding component of the sander by means of a circular array and a moving index according to the radio frequency signals stored by the signal reading module and the distance information transmitted by the absolute value encoder. The following will introduce the specific process of storing in the array.

[0077] Each of the N regions on the conveyor belt can correspond to an array, and a circular array structure can be adopted so that the data is connected end to end. The structure of the formed array is shown in the following formula. The length of the circular array can be determined according to the minimum size of the board and the distance between the radio frequency device and the sanding component farthest from the radio frequency device, and can be adjusted according to the actual situation. Considering the above factors, the N regions correspond to N groups of arrays (for example, 80 regions correspond to 80 groups of arrays). The i-th region among the N regions corresponds to the i-th array among the N arrays, and the length of each array is denoted as M (M can be 2000 for example).

[0078] ;

[0079] Among them, each row can be used to represent the array corresponding to a region. M can be the length of the array, and N is the total number of regions divided by the conveyor belt. is used to represent the array corresponding to the i-th region among the N regions. Among them, 1, 2, 3, 4, 5......M - 2, M - 1, M are used to represent the element subscripts of the array, and are not used to represent the storage content of the array. In fact, as described 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 the identification information. Specifically, taking the array corresponding to the 1st region represented by the first row as an example, the storage content of this array can be shown in the following formula:

[0080] ;

[0081] Among them, is used to represent the moving distance stored at the i-th storage position in the 1st array (which may be the first moving distance described above or the third moving distance described below). is used to represent the identification information stored at the i-th storage position in the 1st array (which may be the first identification information described above or the second identification information described below).

[0082] For any one of the N arrays, this array can correspond to a write index. When performing a write operation on this array, the data is written to the position indicated by the write index corresponding to this array. Refer to Figure 7 , Figure 7It is a flowchart of an array storage process provided by an embodiment of the present application. The following will specifically describe the array storage process in combination with Figure 7 and perform a specific description of the array storage process.

[0083] As Figure 7 shown, the radio frequency signals of N regions can be processed sequentially. For the i-th region among the N regions, it can be first determined whether there is a change in the i-th radio frequency signal collected by the radio frequency device in the i-th region. If there is no change, the process can directly enter the processing process of the radio frequency signal of the (i + 1)-th region. If there is a change, it can be further determined whether the i-th radio frequency signal changes from no signal to a signal. In the case where the i-th radio frequency signal changes from no signal to a signal, the first moving distance calculated by the absolute value encoder can be obtained, and the first moving distance can be stored at the position indicated by the write index in the i-th array, and at the same time, the first identification information can be stored at this position. In the case where the i-th radio frequency signal changes from a 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 at the position indicated by the write index in the i-th array, and at the same time, the second identification information can be stored at this position, and the second identification information is used to identify that the third moving distance is obtained in the case where the target board leaves the action area of the radio frequency device. Then, the write index is incremented 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 stored content of the storage position indicated by the write index is cleared. If the write index is less than the array length, the stored content of the storage position indicated by the write index is directly cleared. Then, the processing of the (i + 1)-th radio frequency signal of the (i + 1)-th region can be performed.

[0084] Taking the first radio frequency signal a1 of the first region as an example, the write index is 1. When the first radio frequency signal changes from no signal to a signal (0 -> 1), it indicates that the target board in the first region starts to enter the action area of the radio frequency device. The first moving distance calculated by the current encoder can be written into the array corresponding to the first region ( ), and the first marking information can be stored ( ), and the write index changes from 1 to 2. The first marking information can be, for example, 1. If the first radio frequency signal a1 remains 1, it means that the target board in the first region is passing through the action area of the radio frequency device, and no record is made at this time.

[0085] When the first radio frequency signal a1 changes from a signal to no signal (1 -> 0), it indicates that the target board in the first region has left the action area of the radio frequency device. The third moving distance calculated by the absolute value encoder can be written into the array corresponding to the first region ( ), and the second identification information can be stored ( ), the second identification information can be 0 for example. If the first radio frequency signal a1 is continuously 0, it means that there is no sheet material within the range of the radio frequency device in the first area at this time, and no record is made at this time. And so on, if the array corresponding to the first area is full, the next storage starts from the first position of the array. Through this circular array structure, the above storage process can be completed.

[0086] Similar to the first radio frequency signal, for the nth radio frequency signal, the write index of the nth array is 1. When the i-th (1 ≤ i ≤ N) radio frequency signal changes from no signal to having a signal (0 -> 1), it indicates that the target sheet material in the nth area starts to enter the action area of the radio frequency device, and the first moving distance calculated by the current encoder can be written into the array corresponding to the nth area ( ), and the first marking information is stored ( ), and the write index changes from 1 to 2. If the nth radio frequency signal is continuously 1, it means that the target sheet material in the nth area is passing through the action area of the radio frequency device, and no record is made at this time. When the nth radio frequency signal changes from having a signal to no signal (1 -> 0), it indicates that the target sheet material in the nth area has left the action area of the radio frequency device, and the third moving distance calculated by the absolute encoder can be written into the array corresponding to the nth area ( ), and the second identification information is stored ( ), and the write index changes from 2 to 3. The second identification information can be 0 for example. If the nth radio frequency signal is continuously 0, it means that there is no sheet material within the range of the radio frequency device in the nth area at this time, and no record is made at this time.

[0087] Step 430: Based on the first moving distance, determine the first distance between the current position of the target sheet material and the radio frequency device.

[0088] In the 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 sheet material and the radio frequency device can be determined.

[0089] In one embodiment of the present application, the sander includes K sanding members, where K is a positive integer, and the target sanding member is one of the K sanding members; 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 location indicated by the write index corresponding to the target array; there is a one-to-one correspondence between the K read indexes and the K sanding members, and the target sanding member corresponds to the first read index among the K read indexes. In the process of determining the first distance between the current position of the target board and the RF device based on the first moving distance, the following method can be adopted: determine the second moving distance of the target board in the second time period, where the second time period is the time period from the preset time point to the detection time point after the first time point. Obtain the first stored content indicated by the first read index from the target array; when the first stored content includes the first moving distance, determine the distance difference between the second moving distance and the first moving distance as the first distance between the current position of the target board and the RF device.

[0090] In an embodiment of the present application, the sander may include K sanding members, for example Figure 5 the 4 groups of key structures in. For the board on the conveyor belt, it can be successively sanded by the K sanding members. When the target board reaches the first sanding member, the first sanding member can be controlled to sand the target board; when the target board reaches the second sanding member, the second sanding member can be controlled to sand the target board. To achieve the control of different sanding members, different sanding members can correspond to different read indexes in the array, such as Figure 6 shown, each group of key structures corresponds to a read index.

[0091] That is to say, for any one of the N arrays, the array corresponds to a write index and K read indexes, and there is a one-to-one correspondence between the K read indexes and the K sanding members. Taking Figure 6 the four groups of key structures in as an example, the write index corresponding to the array can be denoted as WriteIndex. Figure 6The read index corresponding to the first set of key structures can be denoted as ReadIndex1, the read index corresponding to the second set of key structures can be denoted as ReadIndex2, the read index corresponding to the third set of key structures can be denoted as ReadIndex3, and the read index corresponding to the fourth set of key structures can be denoted as ReadIndex4. When performing a write operation on the array, the data is written to the position 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. 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 one of the K sanding components, the data can be read from the array starting from the read index of 1. After the current data reading is completed, the read index corresponding to the sanding component is incremented by 1. At the same time, it can be determined whether the write index of the array (denoted as WriteIndex) is the same as the read index corresponding to the Kth sanding component (denoted as ReadIndexK). If they are the same, it means that the length of the array is insufficient, and the array needs to be expanded and a prompt message "Insufficient array space" can be generated.

[0092] Specifically, in the process of determining the first distance between the current position of the target board and the RF device based on the first moving distance, the second time period between the preset time point and the detection time point can be determined first. The second moving distance of the target board in the second time period calculated by the absolute encoder can be obtained, where the detection time point is after the first time point. Then, the first stored content indicated by the first read index is obtained from the target array. In the case where the first stored content includes the first moving distance, that is, the first moving distance obtained when the read stored content includes the target board entering the action area of the RF 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 board and the RF device. After determining the first distance, the first read index can be incremented by 1 to point to the next position in the array.

[0093] Step 440: In the case where the first distance is greater than or equal to the first target distance, determine that the target board is located at the first sanding position to be processed; where the first target distance is the distance between the RF device and the target sanding component of the sander.

[0094] Step 450: Control the target sanding component to perform a sanding operation on the target board located at the first sanding position to be processed.

[0095] In the embodiment of the present application, a radio frequency device is introduced. The detection of the board can be achieved through the reception signal state 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 board can be determined by the distance between the board and the radio frequency device. Furthermore, the position where the board is located can be obtained in real time, and the target sanding component can be controlled in a timely manner when the board enters the first position to be sanded.

[0096] Please refer to Figure 8 , Figure 8 which is a flowchart of another method for controlling a sanding machine provided by an embodiment of the present application. As Figure 8 shown, the method includes the following steps:

[0097] Step 810: During the movement of the target board, determine first target information through the radio frequency signal of the radio frequency device, where the first target information is the information obtained when the target board enters the action area of the radio frequency device.

[0098] Step 820: Based on the first target information, determine the first distance between the current position of the target board and the radio frequency device.

[0099] Step 830: When the first distance is greater than or equal to the first target distance, determine that the target board is located at the first position to be sanded; control the target sanding component to perform a sanding operation on the target board located at the first position to be sanded.

[0100] Wherein, the first target distance is the distance between the radio frequency device and the target sanding component of the sanding machine. The process of controlling the sanding component of the sanding machine will be described below with specific examples. It can be referred to Figure 9 , Figure 9 which is a schematic flowchart of a method for controlling a key-type sanding machine provided by an embodiment of the present application. As Figure 9 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. Wherein, 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.

[0101] As Figure 9As shown, the second moving distance can be obtained from the absolute encoder. Process the radio frequency signals of the i-th region, where i = 1, and sequentially control K groups of key structures. First, it can be determined whether it is necessary to control the first group of key structures. The i-th region corresponds to the i-th array, and the i-th array corresponds to K read indices and K previous read indices. There is a one-to-one correspondence between the K read indices and the K previous read indices. For any one of the K previous read indices, this previous read index is the position before the read index corresponding to this previous read index. Take Figure 6 the first group of key structures in Figure 6 as an example. The first group of key structures can not only correspond to a read index ReadIndex1, but also correspond to a previous read index LastReadIndex1. ReadIndex1 is 1399, and LastReadIndex1 can be 1398. Data can be read from the i-th array based on the read index corresponding to the first group of key structures among the K read indices to obtain the target marker information and the 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 can refer to the previous 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 marker information is the first marker information, it can be determined that the sheet reaches the first group of key structures. Based on the edge preset value and the i-th region, the first control region corresponding to the i-th region can be determined, and the keys corresponding to the first group of key structures and the first control region can be controlled to drop. 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 marker information is the second marker information, it can be determined that the sheet leaves the first group of key structures, and the i-th key corresponding to the i-th region in the first group of key structures can be controlled to rise.

[0102] Then, the read index corresponding to the first group of key structures among the K read indices can be determined as the previous read index corresponding to the first group of key structures among the K previous read indices, and the read index corresponding to the first group of key structures among the K read indices is incremented by one. Then it is judged whether the read index corresponding to the first group of key structures among the K read indices after incrementing is greater than the array length. If it is greater than the array length, it can be determined that the read index corresponding to the first group of key structures is 1. At this time, the control of the first group of key structures can be completed, and the control of K groups of key structures can be completed in this way in sequence, which will not be elaborated here.

[0103] The following steps 840 - 850 are used to detect whether the target board has left the action area of the radio frequency device, and determine the second target information when the target board leaves the action area of the radio frequency device. Steps 860 - 870 are used to determine whether the target board has left the first sanding position based on the second target information after determining the second target information. The determination of the second target information is after the determination of the first target information. However, it should be noted that the above steps 820 - 830 are used to detect whether the target board has currently reached the first sanding position, and the time point when the target board reaches the first sanding position may be after the target board leaves the radio frequency device or before the target board leaves the radio frequency device. Therefore, steps 840 - 850 can be before steps 820 - 830 or after steps 820 - 830. Figure 8 For example only.

[0104] Step 840: Obtain a second time point, where the second time point is the time point when the radio frequency device switches from the state of having a radio frequency signal output to the state of having no signal.

[0105] In the embodiment of the present application, similar to detecting that the target board enters the action area of the radio frequency device, when the target board leaves the radio frequency device, the radio frequency device can switch from the state of having a radio frequency signal output to the state of having no signal. That is to say, the radio frequency signal collected by the radio frequency device can be obtained in real time. Once it is found that the radio frequency device switches from the state of having a radio frequency signal output to the state of having no signal, the second time point can be determined.

[0106] Step 850: Determine the second target information, where the second target information includes the third moving distance of the target board in a third time period, and the third time period is the time period from a preset time point to the second time point; the second target information is the information obtained when the target board is within the action area of the radio frequency device.

[0107] In the embodiment of the present application, similar to the first target information, the third moving distance of the target board in the third time period from the preset time point to the second time point can be obtained through an absolute encoder, which will not be elaborated here.

[0108] In an embodiment of the present application, the first target information includes the first moving distance of the target board in the first time period, where the first time period is the time period from a preset time point to a first time point, and the first time point is the time point when the radio frequency device switches from a no-signal state to a state of having radio frequency signal output; the first moving distance and the third moving distance are obtained when the same board 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, the abnormal information of the radio frequency device can be determined.

[0109] In an embodiment of the present application, the second distance difference between the first moving distance and the second moving distance determined when the same board passes through the radio frequency device is the length of the board. A threshold can be preset. If the second distance difference is greater than the threshold, it means that the value of the second distance difference is too large and does not conform to the length specification of a normal board. This situation may be caused by an abnormality of the radio frequency device. At this time, the abnormal information of the radio frequency device can be determined and output to the control device.

[0110] Step 860: Based on the second target information, determine the second distance between the current position of the target board and the radio frequency device;

[0111] In an 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. The second identification information is used to identify that the third moving distance is obtained when the target board 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, reference can be made to Figure 7 the description, which will not be elaborated here.

[0112] Step 870: When the second distance is greater than or equal to the first target distance, determine that the target board leaves the first sanding position to be processed; control the target sanding component to stop sanding the target board.

[0113] In an embodiment of the present application, when the target board leaves the first sanding position to be processed, the target sanding component can be controlled to rise and stop sanding the target board.

[0114] Specifically, in an embodiment of the present application, the conveyor belt of the sander includes N regions, where N is a positive integer. The N regions are N regions sorted in order. The first target information is determined based on the radio frequency signal of the target region collected by the radio frequency device. The target region is the i-th region among the N regions, and i is a positive integer less than or equal to N. The sander includes a piano-key sander, and the target sanding member includes N piano keys, and there is a one-to-one correspondence between the N piano keys and the N regions. For any one of the N regions, the region and the piano key corresponding to the region are on the same straight line, and the direction of the straight line is the conveying direction of the conveyor belt. Controlling the target sanding member to stop sanding the target board includes: determining a first control region corresponding to the target region based on the edge preset value and the target region. The first control region is the (i - j)-th region to the (i + j)-th region among the N regions, and the first control region includes the target region. j is the edge preset value, and j is an integer greater than or equal to 0 and less than N. Controlling the piano keys corresponding to the first control region in the target sanding member to rise.

[0115] In an embodiment of the present application, similar to controlling the piano keys to fall, the target region can be expanded, reduced, or remain unchanged based on a preset edge preset value, so as to determine the first control region, and control the piano keys corresponding to the first control region in the target sanding member to rise.

[0116] However, it should be noted that when controlling the piano keys to rise in this way, it is easy for the piano keys that should originally fall to rise, which may easily lead to insufficient sanding of the board. Refer to Figure 10 , Figure 10 is a schematic diagram of a specific example provided by an embodiment of the present application. The region where the board 2 is located is the 1st region to the 8th region of the conveyor belt (corresponding to signal points 1 to signal point 8), and the region where the board 1 is located is the 10th region to the 20th region of the conveyor belt (corresponding to signal points 10 to signal point 20). The edge preset value is 2. The relative positions of the board 1 and the board 2 are as Figure 10 shown. When the board 1 leaves the first set of piano-key structures, the 8th piano key to the 22nd piano key in the first set of piano-key structures will be controlled to rise. At the same time, the first set of piano-key structures is sanding the board 2, and it is necessary to control the 1st piano key to the 10th piano key in the first set of piano-key structures to fall. At this time, the piano keys 9 and 10 that should originally fall rise due to the departure of the board 1. To solve this problem, an embodiment of the present application provides a secondary control method.

[0117] Specifically, in an embodiment of the present application, the sander includes K sander components, where K is a positive integer, the target sander component is one of the K sander components, and each of the N regions corresponds to an array; after controlling the key corresponding to the first control region in the target sander component to rise, the method further includes: determining a second control region based on the edge preset value and the first control region; the second control region includes Q regions, where Q is an integer greater than 1 and less than or equal to N; for the k-th region among the Q regions, where k is a positive integer less than or equal to Q, in the case where the k-th region is not the target region, determining a third control region of the k-th region based on the edge preset value and the k-th region; the array corresponding to the k-th region corresponds to K previous read indexes, and there is a one-to-one correspondence between the K previous read indexes and the K sander components, and the target sander component corresponds to the target previous read index among the K previous read indexes; obtaining the second stored content indicated by the target previous read index from the array corresponding to the k-th region, and in the case where the second stored content includes the first marking information, determining that the key in the third control region is performing a sanding operation, and controlling the key corresponding to the third control region in the target sander component to fall.

[0118] In an embodiment of the present application, the following will be combined with Figure 11 to introduce this process. Figure 11 It is a schematic flowchart of another method for controlling a key-type sander provided by an embodiment of the present application. Since Figure 11 is only different in the content within the dotted box from Figure 9 the following will specifically describe the content within the dotted box, and other content can be referred to Figure 9 for the introduction, which will not be elaborated here. As Figure 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 (the (i - j)-th area to the (i + j)-th area), the second control area (the (i - 2j)-th area to the (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, determine the third control area. Obtain the second stored content indicated by the target previous read index (the previous read index corresponding to the y-th key structure) from the array corresponding to the k-th area. When the second stored content includes the first marking information, determine that the keys in the third control area are performing sanding operations, and control the keys corresponding to the third control area in the target sanding component to fall.

[0119] Through this control process of rising first and then falling, the situation where the keys that should have fallen rise can be avoided, and sufficient sanding of the board can be ensured.

[0120] In the embodiment of the present application, when the target board reaches the first sanding position to be sanded, the target sanding component can be controlled to perform a sanding operation on the target board located at the first sanding position to be sanded. When the target board leaves the first sanding position to be sanded, the target sanding component can be controlled to stop performing a sanding operation on the target board, avoiding continuous operation of the target sanding component.

[0121] Please refer to Figure 12 , Figure 12 which is the specific flowchart of a control method for a sanding machine provided by the embodiment of the present application. As Figure 12 shown, the method includes the following steps:

[0122] Step 1210: Obtain the first time point, where the first time point is the time point when the radio frequency device switches from the no-signal state to the state of outputting a radio frequency signal.

[0123] Step 1220: Obtain the first moving distance of the target board in the first time period; the first time period is the time period from the preset time point to the first time point.

[0124] After obtaining the first moving distance of the target board in the first time period, the first moving distance and the first marking information can be stored in a target array. The first marking information is used to identify that the first moving distance is obtained when the target board 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 board is located at the first sanding position based on the first marking information when the first distance is greater than or equal to the first target distance.

[0125] Step 1230: Determine the first distance between the current position of the target board and the radio frequency device based on the first moving distance.

[0126] The sander includes K sanding components, where K is a positive integer, and the target sanding component is one of the K sanding components; the target array corresponds to one 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; there is a one-to-one correspondence between the K read indexes and the K sanding components, and the target sanding component corresponds to the first read index among the K read indexes.

[0127] In the process of determining the first distance between the current position of the target board and the radio frequency device based on the first moving distance, the following method can be adopted: determine the second moving distance of the target board in the second time period, where the second time period is the time period from the preset time point to the detection time point after the first time point; obtain the first stored content indicated by the first read index from the target array; when the first stored content includes the first moving distance, determine the distance difference between the second moving distance and the first moving distance as the first distance between the current position of the target board and the radio frequency device.

[0128] In an embodiment of the present application, the sander includes a first sanding component and a second sanding component, and the target sanding component is the first sanding component; the target board is located at the first sanding position 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, and 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 board 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 board is located at the second sanding position; control the second sanding component to perform a sanding operation on the target board located at the second sanding position.

[0129] Step 1240: When the first distance is greater than or equal to the first target distance, determine that the target board 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 sander.

[0130] The first position to be sanded includes the vertical projection area of the target sanding component on the conveyor belt.

[0131] Step 1250: Based on the edge preset value and the target area, determine the first control area corresponding to the target area, and control the keys corresponding to the first control area in the target sanding component to drop, so as to perform a sanding operation on the target board located in the target area.

[0132] The target board is arranged on the conveyor belt of the sander. The conveyor belt of the sander 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, i is a positive integer less than or equal to N; the sander includes a key-type sander, and the target sanding component includes N keys, and there is a one-to-one correspondence between the N keys and the N areas. For any area in the N areas, the area and the key corresponding to the area are 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 (i - j)-th area to the (i + j)-th area in 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.

[0133] Step 1260: Obtain a second time point, where the second time point is the time point when the radio frequency device switches from the state of having radio frequency signal output to the state of no signal.

[0134] Step 1270: Determine second target information, where the second target information includes the third moving distance of the target board in a third time period, and the third time period is the time period from a preset time point to the second time point; the second target information is obtained when the target board is outside the action area of the radio frequency device.

[0135] In the embodiment of the present application, the first moving distance and the third moving distance are obtained when the same board 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 the threshold, determine the abnormal information of the radio frequency device.

[0136] Step 1280: Determine a second distance between the current position of the target board and the radio frequency device based on the second target information.

[0137] Step 1290: When the second distance is greater than or equal to the first target distance, determine that the target board has left the first sanding position, and control the target sanding component to stop sanding the target board.

[0138] In the process of controlling the target sanding component to stop sanding the target board, the following method can be adopted: determine a first control area corresponding to the target area based on an edge preset value and the target area, the first control area is the (i - j)-th area to the (i + j)-th 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; control the keys corresponding to the first control area in the target sanding component to rise.

[0139] After controlling the keys corresponding to the first control area in the target sanding component to rise, a second control area can be determined based on the edge preset value and the first control area; the second control area includes Q areas, and Q is an integer greater than 1 and less than or equal to N. For the k-th area among the Q areas, where k is a positive integer less than or equal to Q, when the k-th area is not the target area, determine a third control area corresponding to the k-th area based on the edge preset value and the k-th area; the array corresponding to the k-th area corresponds to K previous read indexes, and the K previous read indexes are in one-to-one correspondence with the K sanding components, and the target sanding component corresponds to the target previous read index among the K previous read indexes; obtain the second stored content indicated by the target previous read index from the array corresponding to the k-th area, and when the second stored content includes the first marking information, determine that the keys in the third control area are performing sanding operations, and control the keys corresponding to the third control area in the target sanding component to fall.

[0140] In an embodiment of the present application, during the movement of the target board, first target information is determined through the radio frequency signal of the radio frequency device, where the first target information is the information obtained when the target board enters the action area of the radio frequency device; based on the first target information, a first distance between the current position of the target board and the radio frequency device is determined; when the first distance is greater than or equal to a first target distance, it is determined that the target board is located at a first position to be sanded; where the first target distance is the distance between the radio frequency device and the target sanding component of the sander; the target sanding component is controlled to perform a sanding operation on the target board located at the first position to be sanded. In this way, the first distance between the current position of the target board and the radio frequency device can be determined through 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, it is determined that the target board is located at the first position to be sanded, and the target sanding component is controlled to perform a sanding operation on the target board located at the first position to be sanded. Compared with the contact probe technology used in the related art, this method will not damage the surface of the target board, and solves the problem that the related art is prone to damage the surface of the detected object. In addition, this method is not prone to mechanical wear and has a long service life.

[0141] At the same time, it should be understood that a control method of a sander provided by 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 board detection. This radio frequency detection method is a non-contact detection method, which will not produce scratches on the board surface, has no mechanical wear, has a long service life, and has strong resistance to external dust-like environments. Second, a circular array is introduced. After cleaning a large number of radio frequency signals, the valid data is retained and stored in the array. By moving the array index to read and write the array, the CPU load can be effectively reduced. Third, by setting the previous read index of the array, the previous control operation can be memorized, and through the secondary opening method, a complex key control function can be realized, so as to meet the requirements of the sanding process. Fourth, a method for detecting radio frequency signal anomalies is provided, which can timely detect hardware anomalies of the radio frequency device.

[0142] Please refer to Figure 13 , Figure 13 which is a structural block diagram of a control device of a sander provided by an embodiment of the present application. As Figure 13 shown, an embodiment of the present application provides a control device 1300 of a sander. The control device 1300 of the sander includes: a determination module 1310 and a control module 1320.

[0143] The determining module 1310 is configured to, during the movement of the target board, determine first target information through the radio frequency signal of the radio frequency device, where the first target information is information obtained when the target board 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 board and the radio frequency device; and when the first distance is greater than or equal to a first target distance, determine that the target board is at a first position to be sanded; where the first target distance is the distance between the radio frequency device and the target sanding component of the sander.

[0144] The control module 1320 is configured to control the target sanding component to perform a sanding operation on the target board at the first position to be sanded.

[0145] In an embodiment of the present application, during the movement of the target board, 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 board enters the action area of the radio frequency device; based on the first target information, a first distance between the current position of the target board and the radio frequency device is determined; when the first distance is greater than or equal to a first target distance, it is determined that the target board is at a first position to be sanded; where the first target distance is the distance between the radio frequency device and the target sanding component of the sander; and the target sanding component is controlled to perform a sanding operation on the target board at the first position to be sanded. In this way, the first distance between the current position of the target board and the radio frequency device can be determined through 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, it is determined that the target board is at the first position to be sanded, and the target sanding component is controlled to perform a sanding operation on the target board at the first position to be sanded. Compared with the contact probe technology used in the related art, this method will not damage the surface of the target board, and solves the problem in the related art that it is easy to damage the surface of the detected object. In addition, this method is not prone to mechanical wear and has a long service life.

[0146] The control device of the sander provided in the embodiment of the present application can implement each process implemented in the above method embodiment. To avoid repetition, it will not be described in detail here.

[0147] Such as Figure 14As shown in the figure, an embodiment of the present application further provides an electronic device 1400. The electronic device 1400 includes: a processor 1410 and a memory 1420. A program or instruction is stored on the memory 1420, and when the program or instruction is executed by the processor 1410, the steps of any of the methods described above are implemented. For example, when the program is executed by the processor 1410, the following process is implemented: during the movement of the target board, the first target information is determined through the radio frequency signal of the radio frequency device, and the first target information is the information obtained when the target board 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 board 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 board 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 sander; the target sanding component is controlled to perform a sanding operation on the target board located at the first position to be sanded. In this way, the first distance between the current position of the target board and the radio frequency device can be determined through 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, it is determined that the target board is located at the first position to be sanded, and the target sanding component is controlled to perform a sanding operation on the target board located at the first position to be sanded. Compared with the contact probe technology used in the related art, this method will not damage the surface of the target board, and solves the problem that the related technology is prone to damage the surface of the detected object. In addition, this method is not prone to mechanical wear and has a long service life.

[0148] An embodiment of the present application further provides a readable storage medium. A program or instruction is stored on the readable storage medium, and when the program or instruction is executed by a processor, the steps of each embodiment of the control method of the sander are implemented, and the same technical effects can be achieved. To avoid repetition, it will not be elaborated here.

[0149] Wherein, 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 disc, etc.

[0150] Another embodiment of the present application provides a chip. The chip includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run a program or instruction to implement each process of the above method embodiment, and the same technical effects can be achieved. To avoid repetition, it will not be elaborated here.

[0151] An embodiment of the present application provides a computer program product. The program product is stored in a storage medium and is executed by at least one processor to implement the various processes of the above method embodiment, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0152] It should be noted that in this article, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without more limitations, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or device including that 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 a 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 be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0153] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disc) and includes several instructions for causing a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present application.

[0154] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them belong to the protection scope of the present application.

Claims

1. A control method for a sander, characterized in that, Including: During the movement of the target board, the first target information is determined through the radio frequency signal of the radio frequency device, and the first target information is the information obtained when the target board enters the action area of the radio frequency device; Based on the first target information, a first distance between the current position of the target board 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 board is 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 sander; Controlling the target sanding component to perform a sanding operation on the target board at the first position to be sanded; Wherein, the first target information includes the first moving distance of the target board in the first time period; determining the first target information through the radio frequency signal of the radio frequency device includes: obtaining a first time point, and the first time point is the time point when the radio frequency device switches from the no-signal state to the state of outputting a radio frequency signal; obtaining the first moving distance of the target board in the first time period; the first time period is the time period from a preset time point to the first time point.

2. The method according to claim 1, wherein After obtaining the first moving distance of the target board in the first time period, the method further includes: Storing the first moving distance and the first marking information into a target array, and the first marking information is used to identify that the first moving distance is obtained when the target board enters the action area of the radio frequency device; Wherein, the first distance is determined based on the first moving distance read from the target array, and the fact that the target board is at the first position to be sanded is determined based on the first marking information when the first distance is greater than or equal to the first target distance.

3. The method according to claim 2, characterized in that, The sander 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 one 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; there is a one-to-one correspondence between the K read indexes and the K sanding components, and the target sanding component corresponds to the first read index among the K read indexes; The determining the first distance between the current position of the target board and the radio frequency device based on the first target information includes: Determining the second moving distance of the target board in the second time period, and the second time period is the time period from the preset time point to the detection time point after the first time point; Obtaining the first stored content indicated by the first read index from the target array; When the first stored 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 board and the radio frequency device.

4. The method according to claim 1, wherein The target board is arranged on the conveyor belt of the sander. The conveyor belt of the sander includes N regions, where N is a positive integer. The first target information is determined based on the radio frequency signals of the target region collected by the radio frequency device. The target region is the i-th region among the N regions, and i is a positive integer less than or equal to N. The sander includes a piano-key sander, and the target sanding component includes N piano keys, and there is a one-to-one correspondence between the N piano keys and the N regions; Controlling the target sanding component to perform a sanding operation on the target board located at the first position to be sanded includes: Based on the edge preset value and the target region, determining a first control region corresponding to the target region. The first control region is the (i - j)-th region to the (i + j)-th region among the N regions. The first control region includes the target region, where j is the edge preset value, and j is an integer greater than or equal to 0 and less than N; Controlling the piano keys corresponding to the first control region in the target sanding component to drop, and performing a sanding operation on the target board located within the target region.

5. The method according to claim 1, characterized in that, After determining the first target information, the method further includes: Obtaining a second time point, where the second time point is the time point when the radio frequency device switches from the state of having a radio frequency signal output to the state of having no signal; Determining second target information, where the second target information includes a third moving distance of the target board in a third time period. The third time period is the time period from a preset time point to the second time point. The second target information is the information obtained when the target board is outside 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 board and the radio frequency device; When the second distance is greater than or equal to the first target distance, determining that the target board has left the first position to be sanded; Controlling the target sanding component to stop performing a sanding operation on the target board.

6. The method according to claim 5, characterized in that, The conveyor belt of the sander includes N regions, where N is a positive integer. The N regions are N regions arranged in sequence. The first target information is determined based on the radio frequency signals of the target region collected by the radio frequency device. The target region is the i-th region among the N regions, and i is a positive integer less than or equal to N. The sander includes a piano-key sander, and the target sanding component includes N piano keys, and there is a one-to-one correspondence between the N piano keys and the N regions; Controlling the target sanding component to stop performing a sanding operation on the target board includes: Based on the edge preset value and the target region, determining a first control region corresponding to the target region. The first control region is the (i - j)-th region to the (i + j)-th region among the N regions. The first control region includes the target region, where j is the edge preset value, and j is an integer greater than or equal to 0 and less than N; Controlling the piano keys corresponding to the first control region in the target sanding component to rise.

7. The method according to claim 6, characterized in that, The sander includes K sander components, where K is a positive integer. The target sander component is one of the K sander components. Each of the N regions corresponds to an array. After controlling the key corresponding to the first control region in the target sander component to rise, the method further includes: Determining a second control region based on the edge preset value and the first control region. The second control region includes Q regions, where Q is an integer greater than 1 and less than or equal to N. For the k-th region among the Q regions, where k is a positive integer less than or equal to Q, when the k-th region is not the target region, determining a third control region of the k-th region based on the edge preset value and the k-th region. The array corresponding to the k-th region corresponds to K previous read indexes, and there is a one-to-one correspondence between the K previous read indexes and the K sander components. The target sander component corresponds to the target previous read index among the K previous read indexes. Obtaining the second stored content indicated by the target previous read index from the array corresponding to the k-th region. When the second stored content includes the first marking information, determining that the key in the third control region is performing a sanding operation, and controlling the key corresponding to the third control region in the target sander component to fall.

8. The method according to claim 1, characterized in that The sander includes a first sander component and a second sander component, and the target sander component is the first sander component. The target board is determined to be at the first sanding position 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 sander component, and the second target distance is the distance between the radio frequency device and the second sander component. The first target distance is less than the second target distance. After determining the first distance between the current position of the target board 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 board is at the second sanding position. Controlling the second sander component to perform a sanding operation on the target board at the second sanding position.

9. The method according to claim 5, characterized in that The first target information includes the first moving distance of the target board in the first time period. The first time period is the time period from a preset time point to the first time point, and the first time point is the time point when the radio frequency device switches from the no-signal state to the state of having a radio frequency signal output. The first moving distance and the third moving distance are obtained when the same board passes through the radio frequency device. After determining the second target information, the method further includes: Determining the second distance difference between the first moving distance and the third moving distance. When the second distance difference is greater than the threshold, determining the abnormal information of the radio frequency device.

10. An electronic device, characterized in that, It includes a processor and a memory. 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 1-9 are implemented.

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