TWI849868B - Processing equipment and its control system and control method - Google Patents

Abstract

The disclosure provides a control system for processing equipment and control method thereof, comprising: transmitting a processing signal to a processing portion by an inputting portion when the processing equipment generates the processing signal due to processing the working piece so that the processing portion predicts a processing quality of a working piece used as reference information according to the processing signal; and transmitting the reference information to a computing portion when the processing quality of the working piece does not meet a requirement decided by the processing portion to calculate a compensation parameter to automatically adjust an active state of the processing equipment on the working piece.

Description

Processing equipment and control system and control method thereof

The present invention relates to a control system, and more particularly to a processing device for automatically adjusting operating conditions, and a control system and a control method thereof.

With the rapid development of machine tool automation, the use of input parameters to perform related processing operations has become the mainstream today. Therefore, machine tools currently widely use Computer Numerical Control (CNC) to perform processing operations.

Furthermore, with the development of advanced manufacturing technology, higher requirements are placed on the stability and reliability of processing operations such as grinding and polishing.

However, on the production line, the operator often makes judgments based on his/her experience and adjusts the relevant parameters of the grinding machine according to the surface roughness of the sample. Therefore, when the grinding machine processes a large number of the same products, the grinding machine will produce force changes due to machine fatigue, resulting in different roughness on the surface of the product. As a result, the operator cannot make effective judgments on various force changes and cannot effectively modify the processing parameters in real time, resulting in uneven quality of the entire batch of processed products, resulting in the need to scrap the entire batch.

Therefore, how to overcome the lack of knowledge and skills has become a difficult problem that the industry needs to overcome urgently.

In view of the deficiency of the prior art, the present invention provides a control system, which is applied to a processing device, wherein the processing device generates a processing signal when processing a workpiece, and the control system comprises: an electronic device; an input unit, which is configured in the electronic device and has a model input information including the processing signal; a calibration unit, which is configured in the electronic device and is used to determine whether the processing device and the surface of the workpiece are flat; a database, which is configured in the electronic device and stores built-in information, so that the calibration unit can determine the surface of the workpiece based on the built-in information. Whether the model input information is reasonable; and the target module is configured in the electronic device to perform the compensation operation of the processing equipment, and includes a processing unit communicatively connected to the input unit and an operation unit communicatively connected to the processing unit, so that the input unit provides the model input information to the processing unit, so that the processing unit predicts the processing quality of the workpiece through the model input information as reference information, and the operation unit calculates the required target parameters based on the reference information to obtain the compensation parameters to form a target information including the compensation parameters.

The present invention also provides a processing equipment, which includes: the aforementioned control system; a machine, which includes a processing tool; an adjustment structure, which is connected to the processing tool and includes a multi-angle variable mechanism, so that the processing tool produces a multi-angle variable property, and the adjustment structure also includes a surface adaptive mechanism, so that when the correction part determines that the processing equipment and the surface of the workpiece are not flat, the surface adaptive mechanism and the multi-angle variable mechanism compensate for the non-parallel condition between the processing path of the processing tool and the processing surface of the workpiece, wherein the adjustment structure The structure further includes an automatic centering mechanism linked to the processing tool to keep the processing tool in a centered position, so that when the calibration unit determines that the model input information is unreasonable, the automatic centering mechanism automatically adjusts the position of the processing tool; and a sensor is arranged on the machine to communicate with the electronic device so that the sensor senses the processing signal and transmits the processing signal to the electronic device, so that the control system performs the compensation operation, so that the machine automatically adjusts the action state of the processing tool on the workpiece based on the compensation parameter.

The present invention also provides a control method for controlling a processing device, comprising: providing a control system as described above to access built-in information in the database; generating a processing signal when the processing device processes a workpiece, so that the input unit obtains a model input information including the processing signal, and judging whether the model input information is reasonable based on the built-in information by the correction unit, and judging whether the surface of the processing tool and the surface of the workpiece are flat by the correction unit; when the correction unit judges that the model input information is reasonable and judges that the surface of the processing tool and the surface of the workpiece are flat, The input unit transmits the model input information to the processing unit, so that the processing unit predicts the processing quality of the workpiece according to the model input information for reference information; when the processing unit determines that the processing quality does not meet the requirements, the processing unit transmits the reference information to the calculation unit; the calculation unit calculates the required target parameters according to the reference information to obtain the compensation parameters, so that the compensation operation of the target module generates a target information including the compensation parameters; and based on the target information, the electronic device automatically adjusts the action state of the processing equipment on the workpiece.

As can be seen from the above, the processing equipment and its control system and control method of the present invention mainly use the target module as a compensation module, and the processing signal generated by the processing equipment when processing the workpiece as model input information to predict the processing quality and then calculate the compensation parameters. Therefore, compared with the prior art, the present invention can avoid the problem of inconsistent processing quality of the workpiece due to factors such as wear and tear of the processing tool or variation of the workpiece during automated processing (such as grinding) operations, so as to effectively improve the stability of the processing quality of the workpiece and increase the service life of the processing tool.

The following describes the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

It should be noted that the structures, proportions, sizes, etc. depicted in the drawings attached to this specification are only used to match the contents disclosed in the specification for understanding and reading by people familiar with this technology, and are not used to limit the restrictive conditions for the implementation of the present invention. Therefore, they have no substantial technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "above" and "a" etc. cited in this specification are only for the convenience of description and are not used to limit the scope of the present invention. Changes or adjustments to the relative relationships shall also be regarded as the scope of the present invention without substantially changing the technical content.

FIG1 is a schematic diagram of the control system 1 of the present invention. As shown in FIG1, the control system 1 includes: an electronic device 8, a collection unit 10, an input unit 11 communicatively connected to the collection unit 10, at least one target module 1a communicatively connected to the input unit 11, a correction unit 14 communicatively connected to the collection unit 10, an analysis unit 15 communicatively connected to the target module 1a, and a database 19 communicatively connected to the correction unit 14, so that the collection unit 10, the input unit 11, the target module 1a, the correction unit 14, the analysis unit 15 and the database 19 are arranged in the electronic device 8, wherein the target module 1a includes a processing unit 12 communicatively connected to the input unit 11 and a calculation unit 13 communicatively connected to the processing unit 12.

In this embodiment, the control system 1 is applied to a processing equipment 2, such as a CNC machine tool as shown in FIG. 2A, so that the target module 1a performs a compensation operation (such as the compensation item is force) of the processing equipment 2, and the electronic device 8 is a standard configuration of the machine tool or an independent computer (such as a remote computer, a personal computer, a tablet or a mobile phone, etc.), which is equipped with a controller. It should be understood that the electronic device 8 can be equipped with other electronic products having functions such as calculation and display of detection results.

Furthermore, the collecting section 10 is used to collect process parameters and/or multiple processing signals (such as force signals, acoustic emission signals, vibration signals or other signals) as model input information, and the collecting section 10 transmits the model input information to the input section 11, wherein the processing equipment 2 generates the processing signal when processing a workpiece 90, so that the input section 11 provides the model input information to the processing section 12, so that the processing section 12 predicts the processing quality of the workpiece 90 through the model input information as reference information, and the calculation section 13 calculates the compensation parameter according to the reference information to form a target information including the compensation parameter.

As shown in FIGS. 2A to 2D , the processing equipment 2 includes a machine 2a having a processing tool 24 and at least one sensor (such as first to fourth sensors 51, 52, 53, 54) disposed on the machine 2a to communicate with the electronic device 8. In this embodiment, the processing equipment 2 is a grinding device or a polishing device, and the processing tool 24 is a belt sander.

The machine 2a further comprises a supporting structure 20 like a machine arm, and an adjusting structure 2b disposed on the supporting structure 20 and connected to the processing tool 24, so that the supporting structure 20 carries the processing tool 24 through the adjusting structure 2b.

The adjustment structure 2b may include a multi-angle variable mechanism 21 connected to the carrying structure 20, a surface adaptive mechanism 22 connected to the multi-angle variable mechanism 21, a force control mechanism 23 connecting the surface adaptive mechanism 22 and the processing tool 24, and an automatic centering mechanism 25 linking the processing tool 24. For example, the multi-angle variable mechanism 21 may be installed at the end of the machine arm of the carrying structure 20.

The multi-angle variable mechanism 21 includes at least one motor 210 (as shown in FIG. 2B ), at least one damping assembly 211 having a connecting rod assembly and a damper (as shown in FIG. 2C ), at least one gear (not shown) and at least one gear 212, etc., so that the processing machine 24 can produce multiple working angle variations (such as the movement direction R shown in FIG. 2B and FIG. 2C ).

In this embodiment, the multi-angle variable mechanism 21 is equipped with a first sensor 51, such as a posture value measurement sensor, to measure the posture value and transmit the angle information to the electronic device 8 so that the control system 1 can calculate the component forces under different relative coordinates.

The surface adaptive mechanism 22 includes at least one spring 220 (as shown in FIG. 2D ), at least one universal ball joint 221 (as shown in FIG. 2D ), at least one electromagnetic iron 222 (as shown in FIG. 2B ), and at least one pneumatic (or hydraulic) rod (not shown) and other components to compensate for the non-parallelism between the processing path of the processing tool 24 and the processing surface of the workpiece 90. In other words, the movement mode of the surface adaptive mechanism 22 (such as the movement direction R shown in FIG. 2B and FIG. 2D ) enables the processing tool 24 (or grinding tool) to be flat against the processing surface of the workpiece 90 and fine-tune the angle as the processing surface changes.

The force control mechanism 23 is configured with a second sensor 52, such as a force sensor (such as a grinding force sensor), to detect the force applied by the processing tool 24 to the workpiece 90 as force information, and transmit the force information to the electronic device 8.

The processing tool 24 is equipped with at least one third sensor 53, such as an acoustic emission sensor (such as a surface acoustic wave sensor) and/or a vibration sensor (such as an accelerometer sensor).

The automatic centering mechanism 25 uses a gear 250 and a motor 251 in combination with a fourth sensor 54, such as a belt tensioning force sensor, so that the fourth sensor 54 detects the belt tensioning force of the processing machine 24, and the automatic centering mechanism 25 dynamically and automatically adjusts the tensioning wheel angle to keep the processing machine 24 (or its belt) in the center position. Therefore, by detecting the force distribution of the belt on the tensioning wheel by the fourth sensor 54, the deflection status of the belt can be known, so as to perform compensation adjustment actions.

It should be understood that the number of sensors can be configured on the adjustment structure 2b and/or the processing tool 24 as needed to facilitate sensing the required processing signals and transmitting the processing signals to the collection unit 10, but is not limited to the above.

Therefore, the processing equipment 2 senses the processing signal through the sensor (such as the first to fourth sensors 51, 52, 53, 54) and transmits the processing signal to the electronic device 8, so that the target module 1a of the control system 1 performs the compensation operation of the processing equipment 2, so that the machine 2a automatically adjusts the action state of the processing tool 24 on the workpiece 90 based on the compensation parameters.

Fig. 3A is a flow chart of the control method of the present invention for controlling the processing equipment 2. In this embodiment, the control method includes a compensation operation, and the compensation item is a force (such as the force applied by the processing tool 24 to the workpiece 90), so the processing signal includes a force signal.

In step S30, when the processing equipment 2 processes a workpiece 90, a processing signal is generated, so that the input unit 11 obtains model input information including the processing signal.

In this embodiment, the model input information includes a plurality of different types of processing signals (such as the signal V _AE of the acoustic emission sensor, the signal V _vibration of the vibration sensor, and the force signal F _normal as shown in FIG. 3B ) and process parameters (such as the feed speed v, the surface quality D of the workpiece before processing, the grinding motor speed w, the contact wheel hardness HR, the workpiece material VB, and the grit particle size (Grid Size) as shown in FIG. 3B ).

In step S31, the input unit 11 transmits the model input information to the processing unit 12, so that the processing unit 12 predicts the processing quality of the workpiece 90 according to the model input information as reference information. For example, the processing unit 12 includes at least one machine learning model to calculate the model input information to obtain the reference information, so the prediction process of the processing unit 12 is as follows:

In step S310 to step S311, the first machine learning model 31 receives the model input information (as shown in FIG. 3B ) to calculate a cutting force F (as shown in FIG. 3B ) as a first parameter.

In this embodiment, the first machine learning model 31 is trained using an artificial intelligence model such as DNN (Deep Neural Network) or CNN (Convolutional Neural Network) to form a model that reflects the correlation between the wear degree of consumables (such as the sanding belt of the processing tool 24) and the cutting force F.

In step S312, the first parameter (cutting force F) is transmitted to the second machine learning model 32, and the second machine learning model 32 also receives the model input information, as shown in FIG. 3B.

In this embodiment, the second machine learning model is also trained using an artificial intelligence model such as DNN or CNN to form a model that reflects the correlation between the cutting force F and the processing quality of the workpiece 90.

In step S313, the second machine learning model 32 calculates the first parameter (cutting force F) together with the model input information to obtain a prediction result of the processing quality of the workpiece 90 as the reference information.

In step S32, the processing unit 12 determines whether the processing quality of the workpiece 90 meets the requirements. For example, if the processing unit 12 determines that the processing quality meets the requirements, the processing unit 12 continuously monitors the wear degree and performs prediction actions (as shown in step S38). On the other hand, if the processing unit 12 determines that the processing quality does not meet the requirements, such as the reference information shown in FIG. 3C (which includes a curve diagram of the correlation between the cutting force F and the processing quality of the workpiece 90), the processing unit 12 transmits the reference information to the calculation unit 13 (as shown in step S33), wherein the reference information presents the bad parameter point q0 of the current quality state and the expected parameter point q1 of the ideal quality state.

In this embodiment, the quality parameter Q of the reference information is the state after each cutting, such as step S33 shown in FIG. 3B , and its formula is Q=a× ^Fn +…+C, wherein ^Fn is the nth power of the force, n is the power (which can be an integer or a fraction), a is the weighted value, and C is a constant.

In step S34, the calculation unit 13 calculates the required ideal cutting force F _Ideal according to the reference information to be used as the second parameter.

In step S35 , the calculation unit 13 calculates the normal force, ie, F _Ideal ×cosθ (step S35 shown in FIG. 3B ), according to the second parameter (ideal cutting force F _Ideal ) to be used as a target parameter.

In step S36 , the calculation unit 13 performs a subtraction calculation, that is, the calculation unit 13 subtracts the target parameter from the value of the processing signal (force signal F _normal ) to obtain a compensation parameter (such as the value of the compensation force).

Therefore, the calculation unit 13 can calculate the compensation parameter according to the reference information, so that the compensation operation of the target module 1a generates (or outputs) target information including the compensation parameter.

In step S37, the calculation unit 13 outputs target information including the compensation parameter (such as the value of the compensation force) to the controller of the electronic device 8 (such as step S37 shown in FIG. 3B).

Therefore, based on the target information, the electronic device 8 can automatically adjust the action state of the processing equipment 2 on the workpiece 90.

FIG. 4 is a flow chart of the control method for controlling the processing equipment 2 of the present invention, which includes a correction operation and a compensation operation.

In step S40, a geometric parameterized physical model is preset in the database 19 of the control system 1 to access the optimal force and its related reference parameters (such as acoustic emission signals and vibration signals), which can be regarded as built-in information.

In step S41, the optimal force is set as the reference force.

In step S42, a trial grinding operation is performed, where the processing equipment 2 uses its processing tool 24 to grind a workpiece 90, and the workpiece can be placed on a calibration platform 9, as shown in FIG. 2A.

In step S43, a calibration operation is performed (including steps S430-S435, as described below).

In step S430, the collecting unit 10 collects the force signal measured by the sensor of the trial grinding operation.

In step S431, the calibration unit 14 determines whether the sanding belt of the processing tool 24 and the surface of the workpiece 90 on the calibration platform 9 are flat according to the reference force and the force signal measured in step S430. For example, if the calibration unit 14 determines that the two are not flat, the position of the processing tool 24 is automatically adjusted by the surface adaptive mechanism 22 and the multi-angle change mechanism 21 (as shown in step S432), and then the operation from step S430 to step S431 is performed until the two are flat. On the other hand, if the calibration unit 14 determines that the two are flat, the collection unit 10 continues to collect the acoustic emission signal and the vibration signal measured by the sensor of the test grinding operation (as shown in step S433).

In step S434, the calibration unit 14 determines whether the acoustic emission signal and the vibration signal measured in step S433 are reasonable according to the reference parameters of the built-in information input into the database 19. For example, if the calibration unit 14 determines that they are unreasonable, the position of the sanding belt of the processing machine 24 is automatically adjusted by the automatic centering mechanism 25 (as shown in step S435). On the other hand, if the calibration unit 14 determines that they are reasonable, the processing (such as grinding and/or polishing) operation can be performed (as shown in step S44), so that the collection unit 10 transmits the calibrated model input information to the input unit 11.

In step S45, step S30 as shown in FIG. 3A is performed (the input unit 11 obtains model input information including a processing signal).

In step S46, the compensation operation shown in FIG. 3A is performed.

In step S47, step S37 as shown in FIG. 3A is performed (the operation unit 13 outputs target information including compensation parameters).

In step S48, the analyzing unit 15 performs an analysis operation to analyze whether the compensation operation enables the processing equipment 2 to operate normally.

In this embodiment, the analysis unit 15 determines whether the wear degree of the abrasive belt of the processing machine 24 exceeds the valve value. For example, if the analysis unit 15 determines that the wear degree of the abrasive belt does not exceed the valve value, the processing operation of step S44 can be continued to continuously perform the compensation operation through the target module 1a. On the other hand, if the analysis unit 15 determines that the wear degree of the abrasive belt exceeds the valve value, the processing operation needs to be stopped or terminated (as shown in step S49).

Therefore, the control method of the present invention forms more accurate processing signals (acoustic emission signals, vibration signals and force signals) as model input information through calibration operations, so that the compensation operation of the target module 1a can generate more appropriate compensation parameters.

Fig. 5 is a schematic diagram of another embodiment of the control system 1 of the present invention. As shown in Fig. 5, the target module 1a of the control system 1 includes a plurality of compensation models 5a, 5b, 5c to perform compensation operations of various compensation items.

In this embodiment, the processing tool 24 may be a belt sander, and the plurality of compensation models 5a, 5b, 5c include a system component force compensation model 5a, a belt wear force compensation model 5b, and a belt tension force compensation model 5c.

The system component force compensation model 5a is communicatively connected to the first sensor 51 so that the target module 1a provides compensation parameters to the controller of the electronic device 8 to adjust the force control mechanism 23.

The belt wear force compensation model 5b is communicatively connected to the second sensor 52 and the third sensor 53 so that the target module 1a can provide compensation parameters to the controller of the electronic device 8 to adjust the processing tool 24.

The belt tension force compensation model 5c is communicatively connected to the fourth sensor 54 so that the target module 1a provides compensation parameters to the controller of the electronic device 8 to adjust the automatic centering mechanism 25.

It should be understood that there are many types of processing equipment, not limited to the above.

Therefore, there are many compensation items related to the control system 1, such as speed, acceleration, moving distance or others, which can be set according to needs without any special restrictions.

In summary, the processing equipment 2 and its control system 1 and control method of the present invention mainly use the target module 1a as a compensation module, and match the processing signals (such as vibration signals, acoustic emission signals, force signals) collected during the processing operation, and even the process parameters (such as motor speed, feed speed, contact wheel hardness, workpiece material, grinding sand size, etc.) as model input information to predict the processing quality ( Even monitor the degree of wear), and then calculate the target information including the compensation parameters. Therefore, compared with the prior art, the present invention can avoid the problem of inconsistent processing quality of the workpiece 90 due to factors such as wear of the processing tool 24 (such as wear of the grinding belt) or variation of the workpiece 90 during automated processing (such as grinding), thereby improving the stability of the processing quality and increasing the service life of the processing tool 24.

The above embodiments are used to illustrate the principle and effect of the present invention, but not to limit the present invention. Anyone skilled in the art can modify the above embodiments without violating the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be as listed in the scope of the patent application described below.

1: Control system

1a: Target module

10: Collection Department

11: Input

12: Processing Department

13: Arithmetic Department

14: Correction Department

15: Analysis Department

19: Database

2: Processing equipment

2a: Machine

2b: Adjust the structure

20: Load-bearing structure

21: Multi-angle variable mechanism

210,251:Motor

211: Damping assembly

212: Gear

22: Surface Adaptive Mechanism

220: Spring

221: Universal ball joint

222: Magnet

23: Power Control Mechanism

24: Processing machinery

25: Automatic centering mechanism

250: Gear

31: The first machine learning model

32: Second Machine Learning Model

5a,5b,5c: Compensation Model

51: First sensor

52: Second sensor

53: Third sensor

54: The fourth sensor

8: Electronic devices

9: Calibration platform

90: Workpiece

F: Cutting force

q0: bad parameter point

q1: expected parameter point

R: Movement direction

S30~S38: Steps

S310~S313: Steps

S40~S49: Steps

S430~S435: Steps

FIG1 is a configuration diagram of the control system of the present invention.

FIG. 2A is a side view schematic diagram of the processing equipment of the present invention.

FIG. 2B is a partial schematic diagram of FIG. 2A .

FIG. 2C is a partial schematic diagram of FIG. 2B from another viewing angle.

FIG. 2D is a partial schematic diagram of FIG. 2B from another viewing angle.

FIG. 3A is a flow chart of the control method of the present invention.

FIG. 3B is a block diagram of the calculation process of FIG. 3A .

FIG. 3C is a graph of the reference information of FIG. 3A .

FIG4 is a flow chart of another embodiment of the control method of the present invention.

FIG5 is a schematic diagram showing the configuration of another embodiment of the control system of the present invention.

1a: Target module

S30~S38: Steps

S310~S313: Steps

Claims (22)

A control system is applied to a processing device, which generates a processing signal when processing a workpiece, and the control system includes: an electronic device; an input unit, which is configured in the electronic device and has a model input information including the processing signal; a calibration unit, which is configured in the electronic device and is used to determine whether the processing device and the surface of the workpiece are flat; a database, which is configured in the electronic device and stores built-in information; and a target module, which is configured in the electronic device to perform the calibration. The compensation operation of the processing equipment includes a processing part that is communicatively connected to the input part and an operation part that is communicatively connected to the processing part, so that the input part provides the model input information to the processing part, so that the processing part predicts the processing quality of the workpiece by using the model input information as reference information, and the operation part calculates the required target parameters based on the reference information, and performs numerical operation on the target parameters and the processing signal to obtain compensation parameters, so as to form target information including the compensation parameters. A control system as described in claim 1, wherein the processing signal is a force signal. A control system as described in claim 1, wherein the compensation parameter is a value of the compensation force. A control system as described in claim 1, wherein the calculation unit subtracts the target parameter from the value of the processing signal to obtain the compensation parameter. A control system as described in claim 1, wherein the processing unit includes at least one machine learning model to obtain the reference information by inputting information into the model for calculation. The control system as described in claim 1 further includes a collection unit configured in the electronic device and communicatively connected to the input unit and the correction unit, which is used to collect the model input information and transmit it to the input unit. The control system as described in claim 1 further includes an analysis unit configured in the electronic device and communicatively connected to the target module to analyze whether the compensation operation enables the processing equipment to operate normally. A control system as described in claim 1, wherein the target module includes multiple compensation models to perform compensation operations for a variety of different items. A processing device comprises: a control system as described in any one of claims 1 to 8; a machine including a processing tool; an adjustment structure connected to the processing tool and including a multi-angle variable mechanism, so that the processing tool can produce multiple working angles, and the adjustment structure also includes a surface adaptive mechanism, so that when the correction part determines that the processing device and the surface of the workpiece are not flat, the surface adaptive mechanism and the multi-angle variable mechanism compensate for the non-parallel condition between the processing path of the processing tool and the processing surface of the workpiece, wherein the The adjustment structure further includes an automatic centering mechanism linked to the processing tool to keep the processing tool in the center position, so that when the calibration unit determines that the model input information is unreasonable, the automatic centering mechanism automatically adjusts the position of the processing tool; and a sensor is arranged on the machine to communicate with the electronic device, so that the sensor senses the processing signal and transmits the processing signal to the electronic device, so that the control system performs the compensation operation, so that the machine automatically adjusts the action state of the processing tool on the workpiece based on the compensation parameter. The processing equipment as described in claim 9, wherein the processing tool is a belt sander. The processing equipment as described in claim 9, wherein the machine further comprises a supporting structure for supporting the processing tool. The processing equipment as described in claim 9, wherein the adjustment structure further comprises a force control mechanism connected to the processing tool, so that the sensor is arranged on the force control mechanism to detect the force applied by the processing tool to the workpiece. The processing equipment as described in claim 9, wherein the at least one sensor is a plurality of sensors, which are arranged on the adjustment structure and/or the processing tool. The processing equipment as described in claim 9, wherein the sensor is a posture value measurement sensor, a force sensor, an acoustic emission sensor or a vibration sensor. A control method for controlling a processing device, comprising: providing a control system as described in claim 1 to access built-in information in the database; generating a processing signal when the processing device processes a workpiece, so that the input unit obtains a model input information including the processing signal, and determines by the calibration unit whether the processing tool and the surface of the workpiece are flat; when the calibration unit determines that the processing tool and the surface of the workpiece are flat, the input unit transmits the model input information to the processing unit, so that the processing unit performs the processing according to the model input. The information predicts the processing quality of the workpiece for reference information; When the processing unit determines that the processing quality does not meet the requirements, the processing unit transmits the reference information to the calculation unit; the calculation unit calculates the required target parameters based on the reference information, and performs numerical calculations on the target parameters and the processing signal to obtain compensation parameters, so that the compensation operation of the target module generates a target information including the compensation parameters; and based on the target information, the electronic device automatically adjusts the action state of the processing equipment on the workpiece. A control method as described in claim 15, wherein the processing signal is a force signal. A control method as described in claim 15, wherein the compensation parameter is a value of the compensation force. The control method as described in claim 15, wherein the calculation unit subtracts the target parameter from the value of the processing signal to obtain the compensation parameter. A control method as described in claim 15, wherein the processing unit includes at least one machine learning model to obtain the reference information by inputting information into the model for calculation. The control method as described in claim 15, wherein the control system further includes a collection unit configured in the electronic device and communicatively connected to the input unit and the correction unit, which is used to collect the model input information and transmit it to the input unit. The control method as described in claim 15, wherein the control system further includes an analysis unit configured in the electronic device and communicatively connected to the target module to analyze whether the compensation operation enables the processing equipment to operate normally. A control method as described in claim 15, wherein the target module includes multiple compensation models to perform compensation operations for a variety of different items.

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