Grabbing and stacking system for deep processing of photovoltaic glass

Abstract

The invention relates to the technical field of photovoltaic glass stacking, and discloses a photovoltaic glass deep processing grabbing and stacking system. According to the system, related information of photovoltaic glass is collected through a sensor module by applying a sensor, a visual module identifies and positions the photovoltaic glass through a camera and calculates position coordinates of the photovoltaic glass, and a control module calculates an optimal grabbing path and a stacking sequence according to the information collected and calculated by the modules. The control module is connected with the grabbing module and sends out a control instruction based on the numerical values, after the grabbing module calculates the grabbing force and the grabbing angle according to the instruction transmitted by the control module, the grabbing device starts to work, grabs the photovoltaic glass and is used for maintaining the accuracy of the grabbing force and the grabbing angle, and the stacking module receives the instruction transmitted by the control module after the grabbing module completes the grabbing task. And the grabbing module is used for grabbing the photovoltaic glass, the grabbed photovoltaic glass is placed at a designated position, stacking is completed, the stacking efficiency and the stacking stability are calculated, and the man-machine interface module displays the state of each module in real time after all tasks are executed.

Description

Technical Field

[0001] The invention relates to the technical field of photovoltaic glass stacking, and in particular to a photovoltaic glass deep processing grabbing and stacking system. Background Art

[0002] Photovoltaic glass is a special glass specifically used for photovoltaic solar energy applications. It is mainly used to manufacture the transparent front surface of solar panels. Photovoltaic glass has high light transmittance, weather resistance and good mechanical properties. It can effectively withstand long-term outdoor environmental influences while allowing sunlight to penetrate to the maximum extent to increase the energy output of photovoltaic modules. Photovoltaic glass needs to be stacked during production, transportation and storage to ensure safe and efficient handling and management of these fragile materials. Reasonable stacking methods can reduce the risk of damage to photovoltaic glass and reduce breakage caused by falling or bumping during transportation and handling. At the same time, effective stacking management can reduce unnecessary labor and logistics costs, further reducing the production and transportation costs of photovoltaic modules.

[0003] Currently, the stacking of produced photovoltaic glass still relies on manual operation, which leads to low stacking efficiency and is prone to human errors. Summary of the invention

[0004] 1. Technical issues to be solved

[0005] In view of the deficiencies in the prior art, the present invention provides a photovoltaic glass deep processing grasping and stacking system, which has the function of using a sensor module to collect the size, thickness, appearance, and ambient temperature and humidity data of the photovoltaic glass, a visual module to identify and locate the photovoltaic glass through a camera, and calculate the position coordinates of the photovoltaic glass, a control module to calculate the optimal grasping path Zyzq and stacking sequence Ddsx according to the information collected and calculated by the sensor module and the visual module, and to issue a control instruction based on the above values ​​and transmit it to the grasping module and the stacking module, the grasping module calculates the grasping force Zqld and the grasping angle Zqjd according to the instruction transmitted by the control module, and then the grasping device starts to work to grasp the photovoltaic glass, and is used to maintain the grasping force and angle The stacking module is accurate in degree. After the grasping module completes the grasping task, the stacking module receives the instruction transmitted by the control module, places the grasped photovoltaic glass to the specified position, completes the stacking, and calculates the stacking efficiency Ddxl and the stacking stability Ddwd. After all tasks are completed, the human-machine interface module displays the status of each module in real time, and provides alarms and efficiency statistics, which are displayed in pop-up windows and charts. By arranging sensors and high-resolution cameras to collect relevant information of photovoltaic glass for analysis, the control device is used to calculate the optimal grasping path and stacking sequence, and control instructions are issued for automatic stacking of photovoltaic glass, which avoids the stacking error problem caused by traditional manual stacking of photovoltaic glass, improves the stacking efficiency of photovoltaic glass, and solves the above problems.

[0006] (II) Technical solution

[0007] To achieve the above-mentioned object, the present invention provides the following technical solutions: a photovoltaic glass deep processing grasping and stacking system, comprising a sensor module, a vision module, a control module, a grasping module, a stacking module and a human-machine interface module;

[0008] The sensor module collects data on the size, thickness, appearance, and ambient temperature and humidity of the photovoltaic glass through sensors;

[0009] The visual module identifies and locates the photovoltaic glass through a camera and calculates the position coordinates of the photovoltaic glass;

[0010] The control module calculates the optimal grasping path Zyzq and stacking sequence Ddsx according to the information collected and calculated by the sensor module and the visual module, and issues control instructions based on the above values ​​and transmits them to the grasping module and the stacking module;

[0011] After the grabbing module calculates the grabbing force Zqld and the grabbing angle Zqjd according to the instructions transmitted by the control module, the grabbing device starts working to grab the photovoltaic glass to maintain the accuracy of the grabbing force and angle;

[0012] After the grabbing module completes the grabbing task, the stacking module receives the instruction transmitted by the control module, places the grabbed photovoltaic glass at the designated position, completes the stacking, and calculates the stacking efficiency Ddxl and the stacking stability Ddwd;

[0013] After all tasks are completed, the human-machine interface module displays the status of each module in real time, and provides alarms and efficiency statistics, which are displayed in the form of pop-up windows and charts.

[0014] Preferably, the sensor module includes a laser ranging sensor, an ultrasonic sensor, a spectrum sensor, a temperature and humidity sensor, and a high-resolution CMOS camera.

[0015] Preferably, the visual module converts the coordinates (x1, y1) of the photovoltaic glass in the image into the world coordinates by giving the internal and external parameters of the camera as follows:

[0016]

[0017] In the formula, represents the world coordinates of the photovoltaic glass in the image, and K represents the intrinsic parameter matrix of the camera, which is used to convert the image coordinates into actual coordinates according to the focal length and optical center position of the camera.

[0018] Preferably, the control module calculates the optimal grasping path Zyzq according to the information collected and calculated by the sensor module and the visual module, and the calculation formula is as follows:

[0019]

[0020] In the formula, Zyzq represents the optimal grasping path, d(P i ,P i+1 ) represents the distance function between two points, and n represents the number of points on the path.

[0021] Preferably, the control module calculates the stacking sequence Ddsx according to the information collected and calculated by the sensor module and the visual module, and the calculation formula is as follows:

[0022] Ddsx=0.3*V glass +0.5*F glass +0.2*T glass

[0023] In the formula, Ddsx represents the stacking order, V glass represents the volume of photovoltaic glass, F glass Indicates the brittleness of photovoltaic glass, T glass Indicates the rotation time of the photovoltaic glass stack.

[0024] Preferably, the grabbing module calculates the grabbing force Zqld according to the instruction transmitted by the control module, and the calculation formula is as follows:

[0025] Zqld=μ*m glass *g

[0026] In the formula, Zqld represents the gripping force, μ represents the friction coefficient, and m glass represents the mass of photovoltaic glass, and g represents the acceleration due to gravity.

[0027] Preferably, the grabbing module calculates the grabbing angle Zqjd according to the instruction transmitted by the control module, and the calculation formula is as follows:

[0028]

[0029] In the formula, Zqjd represents the grab angle, (A glass ,B glass Indicates the location of the photovoltaic glass, (A gripper ,B gripper ) represents the position of the gripping device, tan -1 Represents the inverse tangent function, which calculates the angle of the right triangle formed by two adjacent points.

[0030] Preferably, after the grabbing module completes the grabbing task, the stacking module receives the instruction transmitted by the control module, places the grabbed photovoltaic glass at a designated position, completes the stacking, and calculates the stacking efficiency Ddxl, and the calculation formula is as follows:

[0031]

[0032] In the formula, Ddxl represents the stacking efficiency, Cgfz represents the number of photovoltaic glasses successfully placed, and Ddsj represents the total time used to complete the stacking.

[0033] Preferably, after the grabbing module completes the grabbing task, the stacking module receives the instruction transmitted by the control module, places the grabbed photovoltaic glass at a specified position, completes the stacking, and calculates the stacking stability Ddwd, and the calculation formula is as follows:

[0034]

[0035] In the formula, Ddwd represents the stacking stability, ∑Vert represents the total vertical force in the stacking structure, ∑Hori represents the total horizontal force in the stacking structure, and Stability represents the stability coefficient.

[0036] Preferably, after all tasks are completed, the human-machine interface module generates a detailed performance report, including daily, weekly, and monthly efficiency statistics and a complete operation log of the module. The user can choose between PDF and Excel formats for generating the report as needed.

[0037] Compared with the prior art, the present invention provides a photovoltaic glass deep processing grabbing and stacking system, which has the following beneficial effects:

[0038] The present invention uses a sensor module to apply a sensor to collect the size, thickness, appearance and ambient temperature and humidity data of the photovoltaic glass. The vision module uses a camera to identify and locate the photovoltaic glass and calculate the position coordinates of the photovoltaic glass. The control module calculates the optimal grasping path Zyzq and stacking sequence Ddsx based on the information collected and calculated by the sensor module and the vision module, and issues a control instruction based on the above values ​​and transmits it to the grasping module and the stacking module. After the grasping module calculates the grasping force Zqld and the grasping angle Zqjd according to the instruction transmitted by the control module, the grasping device starts to work and grasps the photovoltaic glass to maintain the accuracy of the grasping force and angle. The stacking module After completing the grasping task, the grasping module receives the instructions transmitted by the control module, places the grasped photovoltaic glass at the specified position, completes the stacking, and calculates the stacking efficiency Ddxl and the stacking stability Ddwd. After all tasks are completed, the human-machine interface module displays the status of each module in real time, and provides alarms and efficiency statistics, which are displayed in pop-up windows and charts. By arranging sensors and high-resolution cameras to collect relevant information of photovoltaic glass for analysis, the control device is used to calculate the optimal grasping path and stacking sequence, and control instructions are issued for automatic stacking of photovoltaic glass, avoiding the stacking error problem caused by traditional manual stacking of photovoltaic glass and improving the stacking efficiency of photovoltaic glass. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the system flow of the present invention. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] In view of the problem that the photovoltaic glass produced at present still relies on manual operation when stacking, which leads to low stacking efficiency and easy to cause human errors, a photovoltaic glass deep processing grabbing and stacking system is proposed. Figure 1,The system includes a sensor module, a vision module, a control module, a grasping module, a stacking module and a human-machine interface module;

[0042] The sensor module uses a variety of sensor devices and technical means to achieve comprehensive monitoring of photovoltaic glass, including: laser distance sensor uses high-precision laser distance sensor, which can quickly and accurately measure the length, width and height of photovoltaic glass. After the laser beam is emitted, it is reflected back to the sensor through the glass surface. The system calculates the measured distance based on the propagation time of light. This non-contact measurement is suitable for various shapes and surface characteristics. The ultrasonic sensor obtains the thickness information of the glass by emitting ultrasonic waves and measuring the echo time. This method is especially suitable for thicker or irregularly shaped photovoltaic glass. The high-resolution CMOS camera uses a high-resolution image sensor to achieve high-precision capture of the surface characteristics of photovoltaic glass. Combined with image processing software, it identifies surface defects and provides high-quality images, which helps to identify subtle defects. The optical properties of the glass material are detected by the spectral sensor, and its transmittance and reflectivity are analyzed to judge the appearance quality of the glass. The digital temperature and humidity sensor monitors the temperature and humidity of the environment in real time. These sensors use hygroscopic resistors and thermocouple technology to provide accurate readings over a wide temperature and humidity range. All sensor data are transmitted to the central processing unit via a wireless network.

[0043] The visual module uses the camera to identify and locate the photovoltaic glass and calculates the position coordinates of the photovoltaic glass. Given the internal and external parameters of the camera, the formula for converting the coordinates (x1, y1) of the photovoltaic glass in the image to the world coordinates is as follows:

[0044]

[0045] The operating environment of photovoltaic glass is often complex, such as changes in lighting, different backgrounds, and other interfering objects. By converting image coordinates into world coordinates, we can better cope with these changes, so that the system can operate stably in various environments. In the formula, represents the world coordinates of the photovoltaic glass in the image, and K represents the intrinsic parameter matrix of the camera, which is used to convert the image coordinates into actual coordinates according to the focal length and optical center position of the camera. Through accurate coordinate conversion, the system can calculate the optimal grasping path and reduce the moving time during grasping and stacking, which not only improves the working efficiency but also reduces energy consumption;

[0046] The control module calculates the optimal grasping path Zyzq and stacking sequence Ddsx based on the information collected and calculated by the sensor module and the visual module, and issues control instructions based on the above values, where:

[0047] The optimal crawling path is calculated as follows:

[0048]

[0049] The optimal grasping path can reduce the distance that the robot arm moves, thereby shortening the grasping and stacking time and improving the overall operation efficiency. In the formula, Zyzq represents the optimal grasping path, d(P i ,P i+1 ) represents the distance function between two points, and n represents the number of points on the path. By optimizing the path, the repeatability and consistency of the operation can be increased, and the pick-and-place errors caused by unstable paths can be reduced;

[0050] The stacking sequence calculation formula is as follows:

[0051] Ddsx=0.3*V glass +0.5*F glass +0.2*T glass

[0052] Reasonable stacking sequence can make the best use of space, avoid repeated handling, and improve storage capacity. In the formula, Ddsx represents the stacking sequence, V glass represents the volume of photovoltaic glass, F glass Indicates the brittleness of photovoltaic glass, T glass Indicates the rotation time of photovoltaic glass stacking. By calculating a reasonable stacking sequence, unnecessary collision and friction can be reduced, thereby reducing the probability of photovoltaic glass breakage;

[0053] After the grasping module calculates the grasping force Zqld and grasping angle Zqjd according to the instructions transmitted by the control module, the grasping device starts working to grasp the photovoltaic glass to maintain the accuracy of the grasping force and angle;

[0054] The formula for calculating the grasping force is as follows:

[0055] Zqld=μ*m glass *g

[0056] Photovoltaic glass of different specifications may require different gripping forces. Accurate calculation can improve the adaptability of the system. In the formula, Zqld represents the gripping force, μ represents the friction coefficient, and m represents the friction coefficient. glass Indicates the mass of photovoltaic glass, g represents the acceleration of gravity. Accurate grasping force calculation can avoid the breakage of photovoltaic glass due to excessive force, thus improving the safety and integrity of the product.

[0057] The formula for calculating the grab angle is as follows:

[0058]

[0059] In complex working environments, the calculation of the optimal grasping angle helps the robot arm adapt to different space restrictions and obstacles. In the formula, Zqjd represents the grasping angle, (Aglass ,B glass ) represents the location of the photovoltaic glass, (A gripper ,B gripper ) represents the position of the gripping device, tan -1 represents the inverse tangent function, which is a function that calculates the angle of the right triangle formed by two adjacent points. It is used to obtain the local optimal grasping angle to ensure the accuracy of the grasping device when grasping the photovoltaic glass, thereby avoiding damage caused by rotation errors;

[0060] After the grabbing module completes the grabbing task, the stacking module receives the instruction transmitted by the control module, places the grabbed photovoltaic glass at the specified position, completes the stacking, and calculates the stacking efficiency Ddxl and the stacking stability Ddwd, where:

[0061] The calculation formula of stacking efficiency is as follows:

[0062]

[0063] An efficient stacking process can increase the operating capacity per unit time and meet the growing market demand. In the formula, Ddxl represents the stacking efficiency, Cgfz represents the number of photovoltaic glasses successfully placed, and Ddsj represents the total time used to complete the stacking. Improving the stacking efficiency can shorten the product processing time, reduce production delays, and improve the smoothness of the overall production line.

[0064] The calculation formula for stacking stability is as follows:

[0065]

[0066] A stable stacking structure can reduce the risk of stacking collapse or sliding, ensuring the safety of operating equipment. In the formula, Ddwd represents the stability of the stacking, ∑Vert represents the total vertical force in the stacking structure, ∑Hori represents the total horizontal force in the stacking structure, and Stability represents the stability coefficient. Calculating the stability of the stacking can avoid frequent maintenance and replacement due to unstable stacking, thus saving the company's operating costs.

[0067] After the stacking task is completed, the human-machine interface module has real-time monitoring and feedback functions, and can promptly display the operating status of each module, including real-time data of grabbing, stacking, transmission and other links. This module not only provides intuitive alarm functions, but also quickly notifies the operator through color changes, sound prompts or pop-up messages when abnormalities or failures occur, thereby improving response speed and processing efficiency. In addition, the system also integrates an efficiency statistics module, which provides a variety of charts to display key indicators such as the work efficiency, success rate, processing time, etc. of each module, so that users can quickly obtain performance overviews and conduct necessary analysis and optimization.

[0068] By arranging sensors and high-resolution cameras to collect relevant information of photovoltaic glass for analysis, the control device is used to calculate the optimal grasping path and stacking sequence, and control instructions are issued to automatically stack the photovoltaic glass. This avoids the stacking error problem caused by traditional manual stacking of photovoltaic glass and improves the stacking efficiency of photovoltaic glass.

[0069] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A photovoltaic glass deep processing grabbing and stacking system, characterized by: Including sensor module, vision module, control module, grabbing module, stacking module and human-machine interface module; The sensor module collects data on the size, thickness, appearance, and ambient temperature and humidity of the photovoltaic glass through sensors; The visual module identifies and locates the photovoltaic glass through a camera and calculates the position coordinates of the photovoltaic glass; The control module calculates the optimal grasping path Zyzq and stacking sequence Ddsx according to the information collected and calculated by the sensor module and the visual module, and issues control instructions based on the above values ​​and transmits them to the grasping module and the stacking module; After the grabbing module calculates the grabbing force Zqld and the grabbing angle Zqjd according to the instructions transmitted by the control module, the grabbing device starts working to grab the photovoltaic glass to maintain the accuracy of the grabbing force and angle; After the grabbing module completes the grabbing task, the stacking module receives the instruction transmitted by the control module, places the grabbed photovoltaic glass at the designated position, completes the stacking, and calculates the stacking efficiency Ddxl and the stacking stability Ddwd; After all tasks are completed, the human-machine interface module displays the status of each module in real time, and provides alarms and efficiency statistics, which are displayed in the form of pop-up windows and charts.

2. A photovoltaic glass deep processing grabbing and stacking system according to claim 1, characterized in that: The sensor module includes a laser distance sensor, an ultrasonic sensor, a spectrum sensor, a temperature and humidity sensor, and a high-resolution CMOS camera.

3. A photovoltaic glass deep processing grabbing and stacking system according to claim 2, characterized in that: The visual module converts the coordinates (x1, y1) of the photovoltaic glass in the image into the world coordinates by giving the internal and external parameters of the camera as follows: In the formula, represents the world coordinates of the photovoltaic glass in the image, and K represents the intrinsic parameter matrix of the camera, which is used to convert the image coordinates into actual coordinates according to the focal length and optical center position of the camera.

4. A photovoltaic glass deep processing grabbing and stacking system according to claim 3, characterized in that: The control module calculates the optimal grasping path Zyzq based on the information collected and calculated by the sensor module and the visual module. The calculation formula is as follows: In the formula, Zyzq represents the optimal grasping path, d(P i , P i+1 ) represents the distance function between two points, and n represents the number of points on the path.

5. A photovoltaic glass deep processing grabbing and stacking system according to claim 4, characterized in that: The control module calculates the stacking sequence Ddsx based on the information collected and calculated by the sensor module and the visual module. The calculation formula is as follows: Ddsx=0.3*V glass +0.5*F glass +0.2*T glass In the formula, Ddsx represents the stacking order, V glass represents the volume of photovoltaic glass, F glass Indicates the brittleness of photovoltaic glass, T glass Indicates the rotation time of the photovoltaic glass stack.

6. A photovoltaic glass deep processing grabbing and stacking system according to claim 5, characterized in that: The grabbing module calculates the grabbing force Zqld according to the instructions transmitted by the control module. The calculation formula is as follows: Zqld=μ*m glass *g In the formula, Zqld represents the gripping force, μ represents the friction coefficient, and m glass represents the mass of photovoltaic glass, and g represents the acceleration due to gravity.

7. A photovoltaic glass deep processing grabbing and stacking system according to claim 6, characterized in that: The grabbing module calculates the grabbing angle Zqjd according to the instructions transmitted by the control module. The calculation formula is as follows: In the formula, Zqjd represents the grab angle, (A glass ,B glass ) represents the location of the photovoltaic glass, (A gripper ,B gripper ) represents the position of the gripping device, tan -1 Represents the inverse tangent function, which calculates the angle of the right triangle formed by two adjacent points.

8. The photovoltaic glass deep processing grabbing and stacking system according to claim 7, characterized in that: After the grabbing module completes the grabbing task, the stacking module receives the instruction transmitted by the control module, places the grabbed photovoltaic glass at the specified position, completes the stacking, and calculates the stacking efficiency Ddxl. The calculation formula is as follows: In the formula, Ddxl represents the stacking efficiency, Cgfz represents the number of photovoltaic glasses successfully placed, and Ddsj represents the total time used to complete the stacking.

9. The photovoltaic glass deep processing grabbing and stacking system according to claim 8, characterized in that: After the grabbing module completes the grabbing task, the stacking module receives the instruction transmitted by the control module, places the grabbed photovoltaic glass at the specified position, completes the stacking, and calculates the stacking stability Ddwd. The calculation formula is as follows: In the formula, Ddwd represents the stacking stability, ∑Vert represents the total vertical force in the stacking structure, ∑Hori represents the total horizontal force in the stacking structure, and Stability represents the stability coefficient.

10. A photovoltaic glass deep processing grabbing and stacking system according to claim 9, characterized in that: After all tasks are completed, the human-machine interface module generates a detailed performance report, including daily, weekly, and monthly efficiency statistics and a complete operation log of the module. Users can choose to generate the report in PDF or Excel format as needed.

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