Die Bonding Machine, Method, Device, Controller and Medium Based on Multi-Sensor Fusion

Abstract

The present application provides a laminator, method, device, controller and medium based on multi-sensor fusion, including: an adsorption unit; an infrared transceiver unit; a plurality of sensor units, including a vision sensor unit, a displacement sensor unit, and an angle sensor unit. The vision sensor unit is used to collect image information corresponding to a photovoltaic module and photovoltaic glass; the displacement sensor unit is used to detect displacement information of the busbar extension end corresponding to the photovoltaic module; the angle sensor unit is used to detect the angle information between the photovoltaic glass and the busbar extension end; a controller, which is used to control the adsorption unit to adsorb the photovoltaic glass, and control the infrared transceiver unit to emit infrared light towards the photovoltaic glass and the photovoltaic module to obtain the spot positions of the infrared light on the busbar extension ends of the photovoltaic glass and the photovoltaic module; obtain the image information, displacement information, and angle information; and control the adsorption unit to place the photovoltaic glass on the photovoltaic module according to the image information, displacement information, angle information, and spot positions to complete laminating.

Description

Technical Field

[0001] The present application relates to the field of photovoltaic technology, and in particular to a wafer assembly machine, method, device, controller and medium based on multi-sensor fusion. Background Art

[0002] With the development of photovoltaic technology and intelligent manufacturing, the production process of solar panels is increasingly dependent on high-precision automated equipment. Among them, the wafer assembly machine, as one of the key equipment in the production of solar panels, is responsible for accurately aligning the backplane glass with the busbar and assembling the panels. Its performance directly affects the quality and production efficiency of the final product. Traditional wafer assembly machines mainly rely on a single laser positioning technology. Although they can meet production needs to a certain extent, their accuracy and robustness are often limited in complex and changing production environments.

[0003] Currently, the assembly machines on the market use only one positioning technology, such as laser or vision, which makes it difficult to achieve high accuracy and high robustness when facing different materials and environments. For example, laser positioning technology performs poorly on transparent or reflective materials, and visual positioning technology is sensitive to lighting conditions.

[0004] Therefore, there is an urgent need for a wafer assembly machine based on multi-sensor fusion to solve at least one of the above problems. Summary of the invention

[0005] The present application provides a multi-sensor fusion based wafer assembly machine, method, device, controller and medium, aiming to solve the problem that the wafer assembly machines currently on the market are difficult to achieve high accuracy and high robustness when facing different materials and environments due to the use of any single positioning technology such as laser and vision. For example, laser positioning technology performs poorly on transparent or reflective materials, and visual positioning technology is sensitive to lighting conditions.

[0006] In a first aspect, a wafer assembly machine based on multi-sensor fusion includes:

[0007] An adsorption unit, the adsorption unit is used to adsorb the photovoltaic glass and place it on the photovoltaic module to complete the assembly of the photovoltaic glass and the photovoltaic module;

[0008] An infrared transceiver unit, the infrared transceiver unit is used to transmit infrared positioning light and detect the spot position of the infrared light;

[0009] A plurality of sensing units, wherein the plurality of sensing units include a visual sensing unit, a displacement sensing unit, and an angle sensing unit. The visual sensing unit is used to collect image information corresponding to the photovoltaic module and the photovoltaic glass; the displacement sensing unit is used to detect displacement information of the extended end of the bus bar corresponding to the photovoltaic module; and the angle sensing unit is used to detect angle information between the photovoltaic glass and the extended end of the bus bar.

[0010] A controller is provided, wherein the controller is used to control the adsorption unit to adsorb the photovoltaic glass, and control the infrared transceiver unit to emit infrared light toward the photovoltaic glass and the photovoltaic module to obtain the spot position of the infrared light on the photovoltaic glass and the protruding end of the bus bar of the photovoltaic module; the controller obtains the image information measured by the visual sensing unit, the displacement information measured by the displacement sensing unit, and the angle information measured by the angle sensing unit; the controller controls the adsorption unit to place the photovoltaic glass on the photovoltaic module according to the image information, the displacement information, the angle information and the spot position, so as to complete the assembly of the photovoltaic glass and the photovoltaic module.

[0011] In some embodiments, it also includes: a plurality of supporting units, wherein the supporting units are arranged on the adsorption units and are used to support the adsorption units; and the infrared transceiver unit is arranged on the supporting units.

[0012] In some embodiments, it also includes: a pressure sensing unit, which is arranged on the adsorption unit and is used to detect the adsorption force corresponding to the adsorption unit; a weight detection unit, which is arranged on the adsorption unit and is used to detect the weight of the photovoltaic glass adsorbed by the adsorption unit; wherein the controller is electrically connected to the pressure sensing unit and the weight detection unit to ensure that the adsorption force is greater than the weight of the photovoltaic glass, and the difference between the adsorption force and the weight is within a preset range, thereby ensuring that the photovoltaic glass is reliably adsorbed by the adsorption unit.

[0013] In some embodiments, it also includes: a fixing unit, on which the photovoltaic component is placed; wherein the displacement sensing unit is installed on the fixing unit below the photovoltaic component, and the probe of the displacement sensing unit is set toward the bus bar protruding end of the photovoltaic component to detect the displacement information of the bus bar protruding end relative to the photovoltaic component.

[0014] In a second aspect, the present application provides a wafer assembly method based on multi-sensor fusion, which is applied to a controller of a wafer assembly machine provided in any embodiment of the present application; the method comprises:

[0015] Control the adsorption unit to adsorb the photovoltaic glass;

[0016] Controlling the infrared transceiver unit to emit infrared light toward the photovoltaic glass and the photovoltaic module to obtain the spot position of the infrared light at the extended end of the busbar of the photovoltaic glass and the photovoltaic module;

[0017] Acquire image information measured by the visual sensing unit, displacement information measured by the displacement sensing unit, and angle information measured by the angle sensing unit;

[0018] The adsorption unit is controlled according to the image information, displacement information, angle information and spot position to place the photovoltaic glass on the photovoltaic module, thereby completing the assembly of the photovoltaic glass and the photovoltaic module.

[0019] In some embodiments, the laminating machine also includes a weight detection unit, and the weight detection unit is arranged on the adsorption unit; the control of the adsorption unit to adsorb the photovoltaic glass includes: controlling the visual sensing unit to face the photovoltaic glass to be adsorbed, and obtaining an original image corresponding to the photovoltaic glass; parsing the original image, and obtaining glass structure information corresponding to the photovoltaic glass; generating glass center coordinates and initial adsorption force according to the glass structure information; controlling the adsorption unit to pre-adsorb the photovoltaic glass according to the initial adsorption force and the glass center coordinates to obtain the weight corresponding to the photovoltaic glass detected by the weight detection unit; updating the initial adsorption force according to the weight corresponding to the photovoltaic glass, and completing the adsorption of the photovoltaic glass.

[0020] Exemplarily, the laminating machine also includes a pressure sensing unit, which is arranged on the adsorption unit; the completion of the adsorption of the photovoltaic glass includes: obtaining a real-time adsorption force corresponding to the adsorption unit measured by the pressure sensing unit, and generating real-time control information corresponding to the pressure sensing unit according to the real-time adsorption force and the weight corresponding to the photovoltaic glass, so as to ensure that during the adsorption process of the photovoltaic glass, the real-time adsorption force is greater than the weight and the difference between the real-time adsorption force and the weight is within a preset range, thereby ensuring that the photovoltaic glass is reliably adsorbed by the adsorption unit.

[0021] Exemplarily, the lamination machine also includes a component detection unit; generating the glass center coordinates and the initial adsorption force according to the glass structure information includes: measuring the component information corresponding to the photovoltaic glass according to the component detection unit; determining the glass density corresponding to the photovoltaic glass according to the component information, and generating the glass volume corresponding to the photovoltaic glass according to the glass structure information; generating the glass weight corresponding to the photovoltaic glass according to the glass volume and the glass density, and generating the initial adsorption force according to the glass weight; determining the glass center of gravity corresponding to the photovoltaic glass according to the glass structure information, and generating the glass center coordinates according to the glass center of gravity.

[0022] In some embodiments, controlling the adsorption unit to place the photovoltaic glass on the photovoltaic module according to the image information, displacement information, angle information and spot position includes: performing feature extraction on the image information to obtain first relative position information and first relative posture information of the photovoltaic module and the photovoltaic glass; parsing the displacement information to obtain displacement change information corresponding to the protruding end of the bus bar; parsing the angle information to obtain the inclination angle of the photovoltaic glass and the inclination angle of the protruding end of the bus bar; parsing the spot position to obtain second relative position information of the photovoltaic module and the photovoltaic glass; generating displacement adjustment information corresponding to the photovoltaic glass according to the first relative position information, displacement change information and the second relative position information; generating angle adjustment information corresponding to the photovoltaic glass according to the inclination angle and the first relative posture information; and controlling the adsorption unit to place the photovoltaic glass on the photovoltaic module according to the displacement adjustment information and the angle adjustment information.

[0023] Exemplarily, the expression corresponding to the displacement adjustment information corresponding to the photovoltaic glass generated according to the first relative position information, the displacement change information and the second relative position information includes:

[0024] ;

[0025] Wherein, D is the displacement adjustment information, represents the sum of the corresponding quantities of the image information, displacement information, angle information and spot position, represents any one of the image information, displacement information, angle information and spot position information, For the The adjustment factor corresponding to the information is Indicates The dynamic attenuation factor corresponding to the information is: is the first relative position information, is the second relative position information, is the displacement change information, is a regulation function based on the first relative position information and the second relative position information, used to describe the displacement relationship between the photovoltaic glass and the photovoltaic module, To generate a correction function for the displacement based on the displacement change information and the first relative position information, is an adjustment function based on the second relative position information and the displacement change information.

[0026] Exemplarily, the feature extraction of the image information to obtain the first relative position information and the first relative posture information of the photovoltaic component and the photovoltaic glass includes: generating target characteristic information corresponding to the drill hole of the photovoltaic glass and the bus bar of the photovoltaic glass; extracting feature points of the image information according to the target feature information to obtain the drilling position and drilling posture corresponding to the photovoltaic component, and the bus bar position and bus bar posture corresponding to the photovoltaic glass; obtaining the first relative position information according to the drilling position and the bus bar position; and obtaining the first relative posture information according to the drilling posture and the bus bar posture.

[0027] In a third aspect, the present application provides a wafer-joining device, which is applied to a controller of a wafer-joining machine provided in any embodiment of the present application; the device comprises:

[0028] An adsorption control module, used for controlling the adsorption unit to adsorb the photovoltaic glass;

[0029] A light emitting module, used to control the infrared transceiver unit to emit infrared light toward the photovoltaic glass and the photovoltaic module, so as to obtain the spot position of the infrared light at the extended end of the busbar of the photovoltaic glass and the photovoltaic module;

[0030] A sensing acquisition module, used to acquire image information measured by a visual sensing unit, displacement information measured by a displacement sensing unit, and angle information measured by the angle sensing unit;

[0031] The assembly completion module is used to control the adsorption unit to place the photovoltaic glass on the photovoltaic module according to the image information, displacement information, angle information and spot position, so as to complete the assembly of the photovoltaic glass and the photovoltaic module.

[0032] In a fourth aspect, the present application provides a controller, comprising a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to execute the computer program and implement the steps of a multi-sensor fusion-based assembly method as provided in any embodiment of the present application when executing the computer program.

[0033] In a fifth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor implements the steps of a multi-sensor fusion-based assembly method as provided in any embodiment of the present application.

[0034] The embodiments of the present application provide a laminating machine, method, device, controller and medium based on multi-sensor fusion. The laminating machine based on multi-sensor fusion integrates multiple sensing technologies to achieve high-precision positioning and operation of photovoltaic glass and photovoltaic modules during laminating.

[0035] The adsorption unit is used to adsorb the photovoltaic glass and accurately place it on the photovoltaic module to complete the assembly operation. The adsorption unit can be a vacuum suction cup or other suitable adsorption device to ensure the stability and safety of the photovoltaic glass during the handling process.

[0036] The infrared transceiver unit is used to emit infrared positioning light and detect the spot position of the infrared light to provide accurate positioning information. The infrared transceiver unit can work stably under different materials and lighting conditions, especially on transparent or reflective materials, it performs better than laser positioning technology.

[0037] The visual sensing unit is used to collect image information of photovoltaic modules and photovoltaic glass for position identification and correction. The displacement sensing unit is used to detect the displacement information of the extended end of the busbar corresponding to the photovoltaic module to ensure the accurate docking of the busbar during the assembly process. The angle sensing unit is used to detect the angle information of the photovoltaic glass and the extended end of the busbar to ensure the alignment accuracy during assembly. The controller is used to control the adsorption unit to adsorb the photovoltaic glass and control the infrared transceiver unit to emit infrared light to obtain the spot position information. The measurement data is obtained from the visual sensing unit, the displacement sensing unit and the angle sensing unit. According to the image information, displacement information, angle information and spot position, these data are comprehensively processed to control the adsorption unit to accurately place the photovoltaic glass on the photovoltaic module to complete the assembly operation.

[0038] Furthermore, the provided laminating machine has at least the following beneficial effects:

[0039] 1. High-precision positioning: Through multi-sensor fusion technology, the comprehensive use of multiple sensors such as infrared, vision, displacement and angle improves the accuracy and reliability of positioning. Especially on transparent or reflective materials, infrared sensing technology can effectively make up for the shortcomings of other technologies and ensure high accuracy of the assembly process.

[0040] 2. High robustness: The integration of multiple sensing technologies enables the laminating machine to work stably under different materials and environmental conditions. The visual sensing unit can collect images under various lighting conditions, the displacement and angle sensing units can provide accurate physical parameters, and the infrared transceiver unit performs well on transparent or reflective materials. The fusion processing of multiple sensor data can effectively reduce the impact of single sensor data errors and improve the overall robustness of the system.

[0041] 3. Strong adaptability: The laminating machine can adapt to different types of photovoltaic glass and components without being restricted by materials or environment. The flexible control system can adjust the use of sensors and data processing methods according to actual needs, improving the adaptability and versatility of the equipment.

[0042] 4. Improve production efficiency: High-precision and high-robust positioning technology reduces errors and rework during assembly and improves production efficiency. Fast and accurate assembly can speed up production and reduce production costs.

[0043] 5. Safe and reliable: The adsorption unit ensures the stability and safety of photovoltaic glass during transportation, reducing the generation of breakage and defective products. The coordinated work of multiple sensors provides more monitoring and correction methods during the assembly process, improving the safety of operation.

[0044] In summary, the multi-sensor fusion-based wafer joining machine effectively solves the positioning problem of existing wafer joining machines when facing different materials and environments by comprehensively using a variety of sensor technologies, realizes high-precision, high-robustness and high-adaptability wafer joining operations, and improves production efficiency and safety.

[0045] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0047] Figure 1 It is a structural schematic diagram of a wafer assembly machine provided in one embodiment of the present application;

[0048] Figure 2 This is a schematic flow chart of the steps of a sheet-joining method provided in one embodiment of the present application;

[0049] Figure 3 is a structural schematic diagram of a sheet-closing device provided in one embodiment of the present application;

[0050] Figure 4 It is a schematic block diagram of the structure of a controller provided in one embodiment of the present application.

[0051] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0053] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0054] It should be understood that, in order to facilitate the clear description of the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, the words "first", "second", etc. are used to distinguish the same items or similar items with substantially the same functions and effects. Those skilled in the art can understand that the words "first", "second", etc. do not limit the quantity and execution order, and the words "first", "second", etc. do not necessarily limit the difference.

[0055] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0056] It should also be understood that the term “and / or” used in the specification and appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0057] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0058] With the development of photovoltaic technology and intelligent manufacturing, the production process of solar panels is increasingly dependent on high-precision automated equipment. Among them, the wafer assembly machine, as one of the key equipment in the production of solar panels, is responsible for accurately aligning the backplane glass with the busbar and assembling the panels. Its performance directly affects the quality and production efficiency of the final product. Traditional wafer assembly machines mainly rely on a single laser positioning technology. Although they can meet production needs to a certain extent, their accuracy and robustness are often limited in complex and changing production environments.

[0059] Currently, the assembly machines on the market use only one positioning technology, such as laser or vision, which makes it difficult to achieve high accuracy and high robustness when facing different materials and environments. For example, laser positioning technology performs poorly on transparent or reflective materials, and visual positioning technology is sensitive to lighting conditions.

[0060] Therefore, there is an urgent need for a wafer assembly machine based on multi-sensor fusion to solve at least one of the above problems.

[0061] To solve the above problems, please refer to Figure 1 The present application provides a chip assembly machine based on multi-sensor fusion, comprising:

[0062] An adsorption unit, the adsorption unit is used to adsorb the photovoltaic glass and place it on the photovoltaic module to complete the assembly of the photovoltaic glass and the photovoltaic module;

[0063] An infrared transceiver unit, the infrared transceiver unit is used to transmit infrared positioning light and detect the spot position of the infrared light;

[0064] A plurality of sensing units, wherein the plurality of sensing units include a visual sensing unit, a displacement sensing unit, and an angle sensing unit. The visual sensing unit is used to collect image information corresponding to the photovoltaic module and the photovoltaic glass; the displacement sensing unit is used to detect displacement information of the extended end of the bus bar corresponding to the photovoltaic module; and the angle sensing unit is used to detect angle information between the photovoltaic glass and the extended end of the bus bar.

[0065] A controller is provided, wherein the controller is used to control the adsorption unit to adsorb the photovoltaic glass, and control the infrared transceiver unit to emit infrared light toward the photovoltaic glass and the photovoltaic module to obtain the spot position of the infrared light on the photovoltaic glass and the protruding end of the bus bar of the photovoltaic module; the controller obtains the image information measured by the visual sensing unit, the displacement information measured by the displacement sensing unit, and the angle information measured by the angle sensing unit; the controller controls the adsorption unit to place the photovoltaic glass on the photovoltaic module according to the image information, the displacement information, the angle information and the spot position, so as to complete the assembly of the photovoltaic glass and the photovoltaic module.

[0066] Specifically, the present application provides a wafer assembly machine based on multi-sensor fusion, which aims to solve the accuracy and robustness problems of existing single positioning technology in complex production environments. The wafer assembly machine mainly includes the following components:

[0067] Adsorption unit: Adsorbs the photovoltaic glass and places it on the photovoltaic module to complete the assembly process.

[0068] Infrared transceiver unit: emits infrared positioning light and detects the spot position of the infrared light to provide high-precision positioning information.

[0069] Multiple sensor units: Visual sensor unit: collects image information of photovoltaic modules and photovoltaic glass for identification and alignment. Displacement sensor unit: detects the displacement information of the extended end of the busbar corresponding to the photovoltaic module to ensure the accurate position of the busbar. Angle sensor unit: detects the angle information of the extended end of the photovoltaic glass and the busbar to ensure the angle alignment when the panels are assembled.

[0070] Controller: controls the coordinated work of the adsorption unit, infrared transceiver unit and multiple sensor units.

[0071] The controller specifically controls the adsorption unit to adsorb the photovoltaic glass. It controls the infrared transceiver unit to emit infrared light to obtain the spot position. It collects the image information of the visual sensor unit, the displacement information of the displacement sensor unit, and the angle information of the angle sensor unit. Based on the comprehensive sensor information, the adsorption unit is controlled to accurately place the photovoltaic glass on the photovoltaic module to complete the assembly.

[0072] Furthermore, by combining multiple sensing technologies such as infrared positioning, visual recognition, displacement detection and angle detection, the laminating machine can achieve higher positioning accuracy in different materials and environments. The controller uses the comprehensive information provided by multiple sensors to more accurately determine the relative position of photovoltaic glass and photovoltaic modules, thereby improving the accuracy of laminating. Multi-sensor fusion technology can effectively deal with the positioning difficulties on transparent or reflective materials, as well as the impact of changing lighting conditions on visual positioning. Even if a certain sensor fails, other sensors can still provide the necessary information to ensure the smooth progress of the laminating process. Through high-precision automated equipment, the need for manual intervention is reduced and production efficiency is improved. The collaborative work of multiple sensors can complete high-precision alignment and laminating in a short time, shortening the production cycle. High-precision laminating reduces scrap caused by inaccurate positioning and reduces production costs. Multi-sensor fusion technology makes equipment more reliable, reduces the frequency of maintenance and repair, and reduces operating costs.

[0073] In summary, the multi-sensor fusion-based wafer assembly machine significantly improves the accuracy and robustness of solar panel production by integrating multiple sensor technologies, while also improving production efficiency and reducing costs. This innovative equipment is expected to become an important tool in the future photovoltaic manufacturing field.

[0074] In some embodiments, it also includes: a plurality of supporting units, wherein the supporting units are arranged on the adsorption units and are used to support the adsorption units; and the infrared transceiver unit is arranged on the supporting units.

[0075] The support unit can provide more stable support to ensure that the adsorption unit does not shake or move during operation, thereby improving the accuracy and reliability of the assembly. Due to the existence of the support unit, the infrared transceiver unit can adjust its position more flexibly to adapt to photovoltaic modules of different sizes and shapes. The stable position of the infrared transceiver unit helps to detect the spot position more accurately, thereby improving the alignment accuracy of the assembly.

[0076] In some embodiments, it also includes: a pressure sensing unit, which is arranged on the adsorption unit and is used to detect the adsorption force corresponding to the adsorption unit; a weight detection unit, which is arranged on the adsorption unit and is used to detect the weight of the photovoltaic glass adsorbed by the adsorption unit; wherein the controller is electrically connected to the pressure sensing unit and the weight detection unit to ensure that the adsorption force is greater than the weight of the photovoltaic glass, and the difference between the adsorption force and the weight is within a preset range, thereby ensuring that the photovoltaic glass is reliably adsorbed by the adsorption unit.

[0077] Through the detection of the pressure sensing unit and the weight detection unit, the controller can ensure that the adsorption force is greater than the weight of the photovoltaic glass to prevent the photovoltaic glass from falling due to insufficient adsorption force. The controller adjusts the adsorption force so that the difference between the adsorption force and the weight is within the preset range to avoid damage to the photovoltaic glass due to excessive adsorption force. Accurate detection of adsorption force and weight can reduce the defective rate caused by adsorption problems and improve production efficiency. The controller can monitor the adsorption force and weight in real time, adjust the working status of the adsorption unit in time, and reduce downtime and manual intervention time.

[0078] In some embodiments, it also includes: a fixing unit, on which the photovoltaic component is placed; wherein the displacement sensing unit is installed on the fixing unit below the photovoltaic component, and the probe of the displacement sensing unit is set toward the bus bar protruding end of the photovoltaic component to detect the displacement information of the bus bar protruding end relative to the photovoltaic component.

[0079] The displacement sensing unit can accurately detect the displacement information of the extended end of the busbar to ensure the accurate alignment of the busbar and the photovoltaic glass. Since the displacement sensing unit is installed on the fixing unit, its position and angle are fixed, which improves the stability of the detection. The displacement sensing unit is not affected by changes in lighting conditions and can work stably in various production environments. For transparent or reflective materials, the displacement sensing unit can still provide reliable displacement detection to ensure the accuracy of the assembly.

[0080] See also Figure 2 , Figure 2This is a schematic flow chart of a wafer joining method based on multi-sensor fusion provided in one embodiment of the present application. The wafer joining method based on multi-sensor fusion can be implemented by a controller of a wafer joining machine provided in any embodiment of the present application, and the controller can be a microcontroller (MCU).

[0081] Specifically, Figure 2 As shown, the provided method for combining chips based on multi-sensor fusion includes steps S101 to S104. The details are as follows:

[0082] Step S101. Control the adsorption unit to adsorb the photovoltaic glass.

[0083] Specifically, the controller sends instructions to the adsorption unit to start the adsorption operation. The adsorption unit adsorbs the photovoltaic glass according to the instructions to ensure that the glass is firmly fixed on the adsorption unit. By precisely controlling the adsorption force, the photovoltaic glass is reliably adsorbed to prevent it from falling off in subsequent operations. The automated adsorption operation reduces the need for manual intervention and improves production efficiency. The firm fixation of the adsorption unit provides the basis for subsequent high-precision alignment.

[0084] Step S102: Control the infrared transceiver unit to emit infrared light toward the photovoltaic glass and the photovoltaic module to obtain the spot position of the infrared light at the extended end of the busbar of the photovoltaic glass and the photovoltaic module.

[0085] Specifically, the controller sends instructions to the infrared transceiver unit to adjust its emission direction. The infrared transceiver unit emits infrared light and detects the spot position of the light on the photovoltaic glass and the extended end of the busbar of the photovoltaic module. The spot position information is transmitted back to the controller for processing.

[0086] The infrared transceiver unit can provide high-precision spot position information to ensure the alignment accuracy of photovoltaic glass and photovoltaic modules. Infrared light is not affected by the transparency or reflection of the material and has stronger adaptability.

[0087] The controller can adjust the position of the adsorption unit in real time according to the spot position information to ensure the accuracy of alignment.

[0088] Step S103: Acquire image information measured by the visual sensing unit, displacement information measured by the displacement sensing unit, and angle information measured by the angle sensing unit.

[0089] Specifically, the controller sends instructions to the visual sensing unit, the displacement sensing unit, and the angle sensing unit to start data collection. The visual sensing unit collects image information of the photovoltaic module and the photovoltaic glass for identification and alignment. The displacement sensing unit detects the displacement information of the extended end of the bus bar corresponding to the photovoltaic module and provides accurate displacement data. The angle sensing unit detects the angle information of the photovoltaic glass and the extended end of the bus bar to ensure the angle alignment when the panels are assembled. The controller integrates and processes the collected image information, displacement information, and angle information.

[0090] The comprehensive use of multiple sensor information can more comprehensively determine the relative position of photovoltaic glass and photovoltaic modules, and improve the accuracy of assembly. The visual sensing unit can work under different lighting conditions, and the displacement sensing unit and angle sensing unit are not affected by light and have stronger adaptability. The controller can dynamically adjust the position and angle of the adsorption unit according to the real-time collected sensor information to ensure the smooth assembly process.

[0091] Step S104: According to the image information, displacement information, angle information and spot position, the adsorption unit is controlled to place the photovoltaic glass on the photovoltaic module, so as to complete the assembly of the photovoltaic glass and the photovoltaic module.

[0092] Specifically, the optimal position and angle of the panels are calculated based on the integrated image information, displacement information, angle information, and spot position information. The position and angle of the panels are adjusted by sending control instructions to the adsorption unit. The adsorption unit places the photovoltaic glass accurately on the photovoltaic module according to the control instructions to complete the high-precision panel operation.

[0093] Through comprehensive judgment of multi-sensor information, the adsorption unit can accurately place the photovoltaic glass on the photovoltaic module to ensure the accuracy of the assembly. The verification of multi-sensor information can reduce the error caused by a single sensor and improve the success rate of assembly. High-precision assembly reduces the defective rate caused by inaccurate alignment and improves the overall production quality. Real-time feedback and adjustment of multi-sensor information ensure the stability of the assembly process and improve the reliability of the product.

[0094] The multi-sensor fusion-based chip-joining method achieves high-precision, high-robustness and high-efficiency chip-joining operations through four steps:

[0095] Step S101 ensures the reliable adsorption of the photovoltaic glass and provides a basis for subsequent operations.

[0096] Step S102 utilizes an infrared transceiver unit to provide high-precision positioning information, adapting to different materials and environments.

[0097] Step S103 comprehensively determines the relative position of the photovoltaic glass and the photovoltaic module through the comprehensive information of the visual sensing unit, the displacement sensing unit and the angle sensing unit.

[0098] Step S104 accurately controls the placement of the adsorption unit according to the comprehensive information to ensure high-precision assembly.

[0099] The provided method not only improves the production quality of solar panels, but also significantly improves production efficiency and reduces production costs.

[0100] In some embodiments, the laminating machine also includes a weight detection unit, and the weight detection unit is arranged on the adsorption unit; the control of the adsorption unit to adsorb the photovoltaic glass includes: controlling the visual sensing unit to face the photovoltaic glass to be adsorbed, and obtaining an original image corresponding to the photovoltaic glass; parsing the original image, and obtaining glass structure information corresponding to the photovoltaic glass; generating glass center coordinates and initial adsorption force according to the glass structure information; controlling the adsorption unit to pre-adsorb the photovoltaic glass according to the initial adsorption force and the glass center coordinates to obtain the weight corresponding to the photovoltaic glass detected by the weight detection unit; updating the initial adsorption force according to the weight corresponding to the photovoltaic glass, and completing the adsorption of the photovoltaic glass.

[0101] The weight detection unit is set on the adsorption unit to detect the weight of the photovoltaic glass. The controller controls the visual sensing unit to face the photovoltaic glass to be adsorbed and obtains the original image of the photovoltaic glass. The original image is parsed to obtain the glass structure information of the photovoltaic glass. The glass center coordinates and the initial adsorption force are generated according to the parsed glass structure information. The controller controls the adsorption unit to pre-adsorb the photovoltaic glass according to the initial adsorption force and the glass center coordinates. The weight corresponding to the photovoltaic glass detected by the weight detection unit is obtained. The initial adsorption force is updated according to the weight of the photovoltaic glass to complete the adsorption of the photovoltaic glass.

[0102] Through the real-time weight detection of the weight detection unit, the controller can accurately adjust the adsorption force to ensure that the adsorption force is greater than the weight of the photovoltaic glass to prevent the glass from falling off during the adsorption process. This avoids damage to the photovoltaic glass due to excessive adsorption force and improves the reliability of adsorption.

[0103] At the same time, precise control of adsorption force and weight can reduce the defective rate caused by adsorption problems and improve production quality.

[0104] Exemplarily, the laminating machine also includes a pressure sensing unit, which is arranged on the adsorption unit; the completion of the adsorption of the photovoltaic glass includes: obtaining a real-time adsorption force corresponding to the adsorption unit measured by the pressure sensing unit, and generating real-time control information corresponding to the pressure sensing unit according to the real-time adsorption force and the weight corresponding to the photovoltaic glass, so as to ensure that during the adsorption process of the photovoltaic glass, the real-time adsorption force is greater than the weight and the difference between the real-time adsorption force and the weight is within a preset range, thereby ensuring that the photovoltaic glass is reliably adsorbed by the adsorption unit.

[0105] The pressure sensing unit is set on the adsorption unit to detect the real-time adsorption force of the adsorption unit. The controller obtains the real-time adsorption force corresponding to the adsorption unit measured by the pressure sensing unit. The real-time control information corresponding to the pressure sensing unit is generated according to the real-time adsorption force and the weight of the photovoltaic glass. It is ensured that during the adsorption process of the photovoltaic glass, the real-time adsorption force is greater than the weight and the difference between the real-time adsorption force and the weight is within a preset range, so as to ensure that the photovoltaic glass is reliably adsorbed by the adsorption unit.

[0106] By monitoring the adsorption force in real time, the controller can dynamically adjust the working state of the adsorption unit to ensure the stability of the adsorption process. Real-time monitoring and adjustment reduce the need for human intervention and improve the level of production automation. At the same time, it ensures that the real-time adsorption force is greater than the weight to prevent the glass from falling off and avoid damage to the glass caused by excessive adsorption force. Through real-time control information, the controller can control the adsorption unit more accurately and further improve the reliability of adsorption.

[0107] Exemplarily, the lamination machine also includes a component detection unit; generating the glass center coordinates and the initial adsorption force according to the glass structure information includes: measuring the component information corresponding to the photovoltaic glass according to the component detection unit; determining the glass density corresponding to the photovoltaic glass according to the component information, and generating the glass volume corresponding to the photovoltaic glass according to the glass structure information; generating the glass weight corresponding to the photovoltaic glass according to the glass volume and the glass density, and generating the initial adsorption force according to the glass weight; determining the glass center of gravity corresponding to the photovoltaic glass according to the glass structure information, and generating the glass center coordinates according to the glass center of gravity.

[0108] The composition detection unit is used to measure the composition information of the photovoltaic glass. The controller measures the composition information of the photovoltaic glass according to the composition detection unit. The glass density of the photovoltaic glass is determined according to the composition information. The glass volume of the photovoltaic glass is generated according to the glass structure information. The glass weight of the photovoltaic glass is generated according to the glass volume and the glass density. The initial adsorption force is generated according to the glass weight. The glass center of gravity of the photovoltaic glass is determined according to the glass structure information, and the glass center coordinates are generated according to the glass center of gravity.

[0109] The composition information obtained by the composition detection unit can more accurately calculate the density and volume of photovoltaic glass, thereby generating a more accurate initial adsorption force. The precise calculation of the initial adsorption force reduces the error caused by improper adsorption force setting and improves the accuracy of the assembly. The glass center coordinates generated according to the center of gravity of the glass can more accurately locate the photovoltaic glass and ensure the alignment accuracy during assembly. The composition detection unit can provide accurate information on photovoltaic glass of different materials and thicknesses, and is more adaptable.

[0110] In some embodiments, controlling the adsorption unit to place the photovoltaic glass on the photovoltaic module according to the image information, displacement information, angle information and spot position includes: performing feature extraction on the image information to obtain first relative position information and first relative posture information of the photovoltaic module and the photovoltaic glass; parsing the displacement information to obtain displacement change information corresponding to the protruding end of the bus bar; parsing the angle information to obtain the inclination angle of the photovoltaic glass and the inclination angle of the protruding end of the bus bar; parsing the spot position to obtain second relative position information of the photovoltaic module and the photovoltaic glass; generating displacement adjustment information corresponding to the photovoltaic glass according to the first relative position information, displacement change information and the second relative position information; generating angle adjustment information corresponding to the photovoltaic glass according to the inclination angle and the first relative posture information; and controlling the adsorption unit to place the photovoltaic glass on the photovoltaic module according to the displacement adjustment information and the angle adjustment information.

[0111] By performing feature extraction on the image information obtained by the visual sensing unit, the first relative position information and the first relative posture information of the photovoltaic module and the photovoltaic glass are obtained. The displacement information obtained by the displacement sensing unit is analyzed to obtain the displacement change information of the protruding end of the bus bar. The angle information obtained by the angle sensing unit is analyzed to obtain the inclination angle of the photovoltaic glass and the inclination angle of the protruding end of the bus bar. The spot position detected by the infrared transceiver unit is obtained to obtain the second relative position information of the photovoltaic module and the photovoltaic glass. The displacement adjustment information corresponding to the photovoltaic glass is generated according to the first relative position information, the displacement change information and the second relative position information. The angle adjustment information corresponding to the photovoltaic glass is generated according to the inclination angle and the first relative posture information. According to the generated displacement adjustment information and angle adjustment information, the adsorption unit is controlled to place the photovoltaic glass on the photovoltaic module to complete the assembly operation.

[0112] By comprehensively using image information, displacement information, angle information and spot position information, high-precision alignment of photovoltaic glass and photovoltaic modules is ensured. Through the verification of multi-sensor information, the error caused by a single sensor is reduced and the accuracy of the assembly is improved. The controller can dynamically adjust the position and angle of the adsorption unit according to the real-time detected sensor information to ensure the smooth progress of the assembly process. At the same time, the real-time acquisition of multiple displacement and angle information enables the assembly machine to adapt to photovoltaic modules of different sizes and shapes, improving production flexibility.

[0113] Exemplarily, the expression corresponding to the displacement adjustment information corresponding to the photovoltaic glass generated according to the first relative position information, the displacement change information and the second relative position information includes:

[0114] ;

[0115] Wherein, D is the displacement adjustment information, represents the sum of the corresponding quantities of the image information, displacement information, angle information and spot position, represents any one of the image information, displacement information, angle information and spot position information, For the The adjustment factor corresponding to the information is Indicates The dynamic attenuation factor corresponding to the information is: is the first relative position information, is the second relative position information, is the displacement change information, is an adjustment function based on the first relative position information and the second relative position information, used to describe the displacement relationship between the photovoltaic glass and the photovoltaic module, To generate a correction function for the displacement based on the displacement change information and the first relative position information, is an adjustment function based on the second relative position information and the displacement change information.

[0116] Through comprehensive adjustment function , The displacement can be adjusted more comprehensively to ensure the precise alignment of the photovoltaic glass and photovoltaic modules. By introducing the dynamic attenuation factor, the adjustment force can be dynamically adjusted according to the size of the displacement change information to avoid over-adjustment. Different adjustment factors can be weighed according to different types of sensor information to ensure that the final adjustment information is more reasonable. The real-time calculation and adjustment of the displacement adjustment information enables the assembly machine to cope with dynamic changes in the production process and improve the robustness of the system.

[0117] Exemplarily, the feature extraction of the image information to obtain the first relative position information and the first relative posture information of the photovoltaic component and the photovoltaic glass includes: generating target characteristic information corresponding to the drill hole of the photovoltaic glass and the bus bar of the photovoltaic glass; extracting feature points of the image information according to the target feature information to obtain the drilling position and drilling posture corresponding to the photovoltaic component, and the bus bar position and bus bar posture corresponding to the photovoltaic glass; obtaining the first relative position information according to the drilling position and the bus bar position; and obtaining the first relative posture information according to the drilling posture and the bus bar posture.

[0118] By generating target characteristic information corresponding to the drilling hole and bus bar of the photovoltaic glass, extracting feature points of the image information according to the target characteristic information, obtaining the drilling position and drilling posture corresponding to the photovoltaic module, and the bus bar position and bus bar posture corresponding to the photovoltaic glass, obtaining the first relative position information according to the drilling position and the bus bar position, and obtaining the first relative posture information according to the drilling posture and the bus bar posture.

[0119] By generating target characteristic information and extracting feature points, the positions of the drill holes and busbars of photovoltaic modules and photovoltaic glass can be identified more accurately to ensure the accuracy of alignment. By obtaining the posture information of the drill holes and busbars, the posture of the photovoltaic glass can be better adjusted to ensure the angle alignment during assembly. Feature point extraction is not affected by lighting conditions and environmental changes, which improves the robustness of the system. Through the comprehensive judgment of multiple feature points, assembly errors caused by single feature point errors are reduced, and the reliability of assembly is improved.

[0120] The provided joining method realizes high-precision positioning and operation of the photovoltaic glass and photovoltaic module during the joining process by integrating multiple sensing technologies. The adsorption unit is used to adsorb the photovoltaic glass and accurately place it on the photovoltaic module to complete the joining operation. The adsorption unit can be a vacuum suction cup or other suitable adsorption device to ensure the stability and safety of the photovoltaic glass during the handling process. The infrared transceiver unit is used to emit infrared positioning light and detect the spot position of the infrared light to provide accurate positioning information. The infrared transceiver unit can work stably under different materials and lighting conditions, especially on transparent or reflective materials. The performance is better than laser positioning technology. The visual sensing unit is used to collect image information of the photovoltaic module and photovoltaic glass for identification and correction of the position. The displacement sensing unit is used to detect the displacement information of the extended end of the bus bar corresponding to the photovoltaic module to ensure the accurate docking of the bus bar during the joining process. The angle sensing unit is used to detect the angle information of the photovoltaic glass and the extended end of the bus bar to ensure the alignment accuracy during the joining process. The controller is used to control the adsorption unit to adsorb the photovoltaic glass and control the infrared transceiver unit to emit infrared light to obtain the spot position information. The measurement data is obtained from the visual sensing unit, the displacement sensing unit and the angle sensing unit. Based on the image information, displacement information, angle information and spot position, the data are comprehensively processed to control the adsorption unit to accurately place the photovoltaic glass on the photovoltaic module to complete the assembly operation.

[0121] The method provided in this application has at least the following beneficial effects:

[0122] 1. High-precision positioning: Through multi-sensor fusion technology, the comprehensive use of multiple sensors such as infrared, vision, displacement and angle improves the accuracy and reliability of positioning. Especially on transparent or reflective materials, infrared sensing technology can effectively make up for the shortcomings of other technologies and ensure high accuracy of the assembly process.

[0123] 2. High robustness: The integration of multiple sensing technologies enables the laminating machine to work stably under different materials and environmental conditions. The visual sensing unit can collect images under various lighting conditions, the displacement and angle sensing units can provide accurate physical parameters, and the infrared transceiver unit performs well on transparent or reflective materials. The fusion processing of multiple sensor data can effectively reduce the impact of single sensor data errors and improve the overall robustness of the system.

[0124] 3. Strong adaptability: The laminating machine can adapt to different types of photovoltaic glass and components without being restricted by materials or environment. The flexible control system can adjust the use of sensors and data processing methods according to actual needs, improving the adaptability and versatility of the equipment.

[0125] 4. Improve production efficiency: High-precision and high-robust positioning technology reduces errors and rework during assembly and improves production efficiency. Fast and accurate assembly can speed up production and reduce production costs.

[0126] 5. Safe and reliable: The adsorption unit ensures the stability and safety of photovoltaic glass during transportation, reducing the generation of breakage and defective products. The coordinated work of multiple sensors provides more monitoring and correction methods during the assembly process, improving the safety of operation.

[0127] In summary, the assembly method based on multi-sensor fusion effectively solves the positioning problem of existing assembly machines when facing different materials and environments by comprehensively using a variety of sensor technologies, realizes high-precision, high-robustness and high-adaptability assembly operations, and improves production efficiency and safety.

[0128] See also Figure 3 As shown, Figure 3 1 is a schematic diagram of the structure of the chip-joining device 200 provided in an embodiment of the present application. The chip-joining device 200 is used to execute the steps of the chip-joining method based on multi-sensor fusion shown in the above embodiments. The chip-joining device 200 can be a single server or a server cluster, or the chip-joining device 200 can be a terminal, and the terminal can be a handheld terminal, a laptop computer, a wearable device, or a robot, etc.

[0129] like Figure 3 As shown, the sheet-closing device 200 includes:

[0130] Adsorption control module 201, used to control the adsorption unit to adsorb photovoltaic glass;

[0131] The light emitting module 202 is used to control the infrared transceiver unit to emit infrared light toward the photovoltaic glass and the photovoltaic module to obtain the spot position of the infrared light at the extended end of the busbar of the photovoltaic glass and the photovoltaic module;

[0132] A sensing acquisition module 203, used to acquire image information measured by a visual sensing unit, displacement information measured by a displacement sensing unit, and angle information measured by the angle sensing unit;

[0133] The assembly completion module 204 is used to control the adsorption unit to place the photovoltaic glass on the photovoltaic module according to the image information, displacement information, angle information and spot position, so as to complete the assembly of the photovoltaic glass and the photovoltaic module.

[0134] It should be noted that, those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the above-described assembly device and each module can refer to the corresponding process in the embodiments of the assembly method based on multi-sensor fusion described in the above-mentioned embodiments, and will not be repeated here.

[0135] The above-mentioned multi-sensor fusion-based chip-joining method can be implemented in the form of a computer program. The computer program can be used in Figure 3 Run on the device shown.

[0136] See also Figure 4 , Figure 4 : is a schematic block diagram of the structure of a controller provided in an embodiment of the present application. The controller includes a processor, a memory and a network interface connected via a device bus, wherein the memory may include a storage medium and an internal memory.

[0137] The storage medium can store an operating device and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor can execute any one of the chip-joining methods based on multi-sensor fusion.

[0138] The processor is used to provide computing and control capabilities and support the operation of the entire controller.

[0139] The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor, the processor can execute any chip combination method based on multi-sensor fusion.

[0140] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the terminal to which the scheme of the present application is applied. The specific controller may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0141] It should be understood that the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0142] In one embodiment, the processor is used to run a computer program stored in the memory to implement the following steps:

[0143] When the photovoltaic assembly is placed on the workbench, obtaining weight information measured by a weight detection module and image information collected by a visual collection module;

[0144] Control the adsorption unit to adsorb the photovoltaic glass;

[0145] Controlling the infrared transceiver unit to emit infrared light toward the photovoltaic glass and the photovoltaic module to obtain the spot position of the infrared light at the extended end of the busbar of the photovoltaic glass and the photovoltaic module;

[0146] Acquire image information measured by the visual sensing unit, displacement information measured by the displacement sensing unit, and angle information measured by the angle sensing unit;

[0147] The adsorption unit is controlled according to the image information, displacement information, angle information and spot position to place the photovoltaic glass on the photovoltaic module, thereby completing the assembly of the photovoltaic glass and the photovoltaic module.

[0148] In some embodiments, the laminating machine also includes a weight detection unit, and the weight detection unit is arranged on the adsorption unit; the control of the adsorption unit to adsorb the photovoltaic glass includes: controlling the visual sensing unit to face the photovoltaic glass to be adsorbed, and obtaining an original image corresponding to the photovoltaic glass; parsing the original image, and obtaining glass structure information corresponding to the photovoltaic glass; generating glass center coordinates and initial adsorption force according to the glass structure information; controlling the adsorption unit to pre-adsorb the photovoltaic glass according to the initial adsorption force and the glass center coordinates to obtain the weight corresponding to the photovoltaic glass detected by the weight detection unit; updating the initial adsorption force according to the weight corresponding to the photovoltaic glass, and completing the adsorption of the photovoltaic glass.

[0149] Exemplarily, the laminating machine also includes a pressure sensing unit, which is arranged on the adsorption unit; the completion of the adsorption of the photovoltaic glass includes: obtaining a real-time adsorption force corresponding to the adsorption unit measured by the pressure sensing unit, and generating real-time control information corresponding to the pressure sensing unit according to the real-time adsorption force and the weight corresponding to the photovoltaic glass, so as to ensure that during the adsorption process of the photovoltaic glass, the real-time adsorption force is greater than the weight and the difference between the real-time adsorption force and the weight is within a preset range, thereby ensuring that the photovoltaic glass is reliably adsorbed by the adsorption unit.

[0150] Exemplarily, the lamination machine also includes a component detection unit; generating the glass center coordinates and the initial adsorption force according to the glass structure information includes: measuring the component information corresponding to the photovoltaic glass according to the component detection unit; determining the glass density corresponding to the photovoltaic glass according to the component information, and generating the glass volume corresponding to the photovoltaic glass according to the glass structure information; generating the glass weight corresponding to the photovoltaic glass according to the glass volume and the glass density, and generating the initial adsorption force according to the glass weight; determining the glass center of gravity corresponding to the photovoltaic glass according to the glass structure information, and generating the glass center coordinates according to the glass center of gravity.

[0151] In some embodiments, controlling the adsorption unit to place the photovoltaic glass on the photovoltaic module according to the image information, displacement information, angle information and spot position includes: performing feature extraction on the image information to obtain first relative position information and first relative posture information of the photovoltaic module and the photovoltaic glass; parsing the displacement information to obtain displacement change information corresponding to the protruding end of the bus bar; parsing the angle information to obtain the inclination angle of the photovoltaic glass and the inclination angle of the protruding end of the bus bar; parsing the spot position to obtain second relative position information of the photovoltaic module and the photovoltaic glass; generating displacement adjustment information corresponding to the photovoltaic glass according to the first relative position information, displacement change information and the second relative position information; generating angle adjustment information corresponding to the photovoltaic glass according to the inclination angle and the first relative posture information; and controlling the adsorption unit to place the photovoltaic glass on the photovoltaic module according to the displacement adjustment information and the angle adjustment information.

[0152] Exemplarily, the expression corresponding to the displacement adjustment information corresponding to the photovoltaic glass generated according to the first relative position information, the displacement change information and the second relative position information includes:

[0153] ;

[0154] Wherein, D is the displacement adjustment information, represents the sum of the corresponding quantities of the image information, displacement information, angle information and spot position, represents any one of the image information, displacement information, angle information and spot position information, For the The adjustment factor corresponding to the information is Indicates The dynamic attenuation factor corresponding to the information is: is the first relative position information, is the second relative position information, is the displacement change information, is an adjustment function based on the first relative position information and the second relative position information, used to describe the displacement relationship between the photovoltaic glass and the photovoltaic module, To generate a correction function for the displacement based on the displacement change information and the first relative position information, is an adjustment function based on the second relative position information and the displacement change information.

[0155] Exemplarily, the feature extraction of the image information to obtain the first relative position information and the first relative posture information of the photovoltaic component and the photovoltaic glass includes: generating target characteristic information corresponding to the drill hole of the photovoltaic glass and the bus bar of the photovoltaic glass; extracting feature points of the image information according to the target feature information to obtain the drilling position and drilling posture corresponding to the photovoltaic component, and the bus bar position and bus bar posture corresponding to the photovoltaic glass; obtaining the first relative position information according to the drilling position and the bus bar position; and obtaining the first relative posture information according to the drilling posture and the bus bar posture.

[0156] The present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor implements the steps of the multi-sensor fusion-based chip assembly method as described in the first aspect above.

[0157] The computer-readable storage medium may be an internal storage unit of the controller described in the foregoing embodiment, such as a hard disk or memory of the controller. The computer-readable storage medium may also be an external storage device of the controller, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., equipped on the controller.

[0158] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A chip assembly machine based on multi-sensor fusion, characterized in that: include: An adsorption unit, the adsorption unit is used to adsorb the photovoltaic glass and place it on the photovoltaic module to complete the assembly of the photovoltaic glass and the photovoltaic module; An infrared transceiver unit, the infrared transceiver unit is used to transmit infrared positioning light and detect the spot position of the infrared light; A plurality of sensing units, wherein the plurality of sensing units include a visual sensing unit, a displacement sensing unit, and an angle sensing unit. The visual sensing unit is used to collect image information corresponding to the photovoltaic module and the photovoltaic glass; the displacement sensing unit is used to detect displacement information of the extended end of the bus bar corresponding to the photovoltaic module; and the angle sensing unit is used to detect angle information between the photovoltaic glass and the extended end of the bus bar. A controller is provided, wherein the controller is used to control the adsorption unit to adsorb the photovoltaic glass, and control the infrared transceiver unit to emit infrared light toward the photovoltaic glass and the photovoltaic module to obtain the spot position of the infrared light on the photovoltaic glass and the protruding end of the bus bar of the photovoltaic module; the controller obtains the image information measured by the visual sensing unit, the displacement information measured by the displacement sensing unit, and the angle information measured by the angle sensing unit; the controller controls the adsorption unit to place the photovoltaic glass on the photovoltaic module according to the image information, the displacement information, the angle information and the spot position, so as to complete the assembly of the photovoltaic glass and the photovoltaic module.

2. The multi-sensor fusion chip assembly machine according to claim 1, characterized in that: Also includes: A plurality of supporting units, wherein the supporting units are arranged on the adsorption units and are used to support the adsorption units; The infrared transceiver unit is arranged on the support unit.

3. The multi-sensor fusion chip assembly machine according to claim 1, characterized in that: Also includes: A pressure sensing unit, the pressure sensing unit is arranged on the adsorption unit and is used to detect the adsorption force corresponding to the adsorption unit; A weight detection unit, the weight detection unit is arranged on the adsorption unit, and is used to detect the weight of the photovoltaic glass adsorbed by the adsorption unit; Among them, the controller is electrically connected to the pressure sensing unit and the weight detection unit to ensure that the adsorption force is greater than the weight of the photovoltaic glass, and the difference between the adsorption force and the weight is within a preset range, ensuring that the photovoltaic glass is reliably adsorbed by the adsorption unit.

4. The multi-sensor fusion chip assembly machine according to claim 1, characterized in that: Also includes: A fixing unit, on which the photovoltaic assembly is placed; The displacement sensing unit is installed on a fixing unit below the photovoltaic assembly, and a probe of the displacement sensing unit is arranged toward the busbar extension end of the photovoltaic assembly to detect displacement information of the busbar extension end relative to the photovoltaic assembly.

5. A chip assembly method based on multi-sensor fusion, characterized in that: A controller for a wafer assembly machine according to any one of claims 1 to 4; the method comprising: Control the adsorption unit to adsorb the photovoltaic glass; Controlling the infrared transceiver unit to emit infrared light toward the photovoltaic glass and the photovoltaic module to obtain the spot position of the infrared light at the extended end of the busbar of the photovoltaic glass and the photovoltaic module; Acquire image information measured by the visual sensing unit, displacement information measured by the displacement sensing unit, and angle information measured by the angle sensing unit; The adsorption unit is controlled according to the image information, displacement information, angle information and spot position to place the photovoltaic glass on the photovoltaic module, thereby completing the assembly of the photovoltaic glass and the photovoltaic module.

6. The method according to claim 5, characterized in that The sheet-joining machine further comprises a weight detection unit, and the weight detection unit is arranged on the adsorption unit; the control adsorption unit adsorbs the photovoltaic glass, comprising: Controlling the visual sensing unit to face the photovoltaic glass to be adsorbed, and acquiring an original image corresponding to the photovoltaic glass; Analyzing the original image to obtain glass structure information corresponding to the photovoltaic glass; Generate glass center coordinates and initial adsorption force according to the glass structure information; Controlling the adsorption unit to pre-adsorb the photovoltaic glass according to the initial adsorption force and the center coordinates of the glass; Obtaining the weight corresponding to the photovoltaic glass detected by the weight detection unit; The initial adsorption force is updated according to the weight corresponding to the photovoltaic glass to complete the adsorption of the photovoltaic glass.

7. The method according to claim 6, characterized in that The laminating machine further comprises a pressure sensing unit, and the pressure sensing unit is arranged on the adsorption unit; the adsorption of the photovoltaic glass comprises: The real-time adsorption force corresponding to the adsorption unit measured by the pressure sensing unit is obtained, and real-time control information corresponding to the pressure sensing unit is generated according to the real-time adsorption force and the weight corresponding to the photovoltaic glass, so as to ensure that during the adsorption process of the photovoltaic glass, the real-time adsorption force is greater than the weight and the difference between the real-time adsorption force and the weight is within a preset range, thereby ensuring that the photovoltaic glass is reliably adsorbed by the adsorption unit.

8. The method according to claim 6, characterized in that The glass assembling machine further includes a component detection unit; the generating of the glass center coordinates and the initial adsorption force according to the glass structure information includes: Measuring the composition information corresponding to the photovoltaic glass according to the composition detection unit; Determine a glass density corresponding to the photovoltaic glass according to the composition information, and generate a glass volume corresponding to the photovoltaic glass according to the glass structure information; Generate the glass weight corresponding to the photovoltaic glass according to the glass volume and glass density, and generate the initial adsorption force according to the glass weight; The glass center of gravity corresponding to the photovoltaic glass is determined according to the glass structure information, and the glass center coordinates are generated according to the glass center of gravity.

9. The method according to claim 5, characterized in that The method of controlling the adsorption unit to place the photovoltaic glass on the photovoltaic module according to the image information, the displacement information, the angle information and the spot position includes: Performing feature extraction on the image information to obtain first relative position information and first relative posture information of the photovoltaic component and the photovoltaic glass; Analyzing the displacement information to obtain displacement change information corresponding to the extended end of the busbar; Analyzing the angle information to obtain the tilt angle of the photovoltaic glass and the tilt angle of the extended end of the busbar; Analyzing the spot position to obtain second relative position information of the photovoltaic component and the photovoltaic glass; Generate displacement adjustment information corresponding to the photovoltaic glass according to the first relative position information, the displacement change information and the second relative position information; Generate angle adjustment information corresponding to the photovoltaic glass according to the tilt angle and the first relative posture information; The adsorption unit is controlled to place the photovoltaic glass on the photovoltaic module according to the displacement adjustment information and the angle adjustment information.

10. The method according to claim 9, characterized in that The expression corresponding to the displacement adjustment information corresponding to the photovoltaic glass generated according to the first relative position information, the displacement change information and the second relative position information includes: ； Wherein, D is the displacement adjustment information, represents the sum of the corresponding quantities of the image information, displacement information, angle information and spot position, represents any one of the image information, displacement information, angle information and spot position information, For the Different adjustment factors are used to weigh different types of sensor information to ensure that the final adjustment information is more reasonable. Indicates The dynamic attenuation factor corresponding to the information is used to dynamically adjust the adjustment intensity according to the size of the displacement change information to avoid over-adjustment. is the first relative position information, is the second relative position information, is the displacement change information, is an adjustment function based on the first relative position information and the second relative position information, used to describe the displacement relationship between the photovoltaic glass and the photovoltaic module, To generate a correction function for the displacement based on the displacement change information and the first relative position information, is an adjustment function based on the second relative position information and the displacement change information.

11. The method according to claim 9, characterized in that The step of extracting features from the image information to obtain first relative position information and first relative posture information of the photovoltaic component and the photovoltaic glass includes: Generate target characteristic information corresponding to the drilling holes of the photovoltaic glass and the busbars of the photovoltaic glass; Extracting feature points from the image information according to the target feature information to obtain the drilling position and drilling posture corresponding to the photovoltaic component, and the bus bar position and bus bar posture corresponding to the photovoltaic glass; Acquire the first relative position information according to the drilling position and the busbar position; The first relative posture information is acquired according to the drilling posture and the busbar posture.

12. A sheet-closing device, characterized in that: A controller for a wafer assembly machine according to any one of claims 1 to 4; the device comprising: An adsorption control module, used for controlling the adsorption unit to adsorb the photovoltaic glass; A light emitting module, used to control the infrared transceiver unit to emit infrared light toward the photovoltaic glass and the photovoltaic module, so as to obtain the spot position of the infrared light at the extended end of the busbar of the photovoltaic glass and the photovoltaic module; A sensing acquisition module, used to acquire image information measured by a visual sensing unit, displacement information measured by a displacement sensing unit, and angle information measured by the angle sensing unit; The assembly completion module is used to control the adsorption unit to place the photovoltaic glass on the photovoltaic module according to the image information, displacement information, angle information and spot position, so as to complete the assembly of the photovoltaic glass and the photovoltaic module.

13. A controller, characterized in that: The controller comprises a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to execute the computer program and implement the method according to any one of claims 5 to 11 when executing the computer program.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, causes the processor to implement the method according to any one of claims 5 to 11.

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