Double-glass assembly assembly machine and control method, system, device and medium thereof

Abstract

The present application provides a double-glass component laminating machine and a control method, system, device, and medium thereof, which are used to lap backplane glass and a component to be laminarized; the machine comprises: an adsorption device, which is used to adsorb the backplane glass; a moving device, which is connected to the adsorption device and is used to control the backplane glass to move in any direction via the adsorption device; a supporting device, which is provided with an X-direction fine-tuning unit and a Y-direction fine-tuning unit, and the transparent glass of the component to be laminarized is arranged on the supporting device via the X-direction fine-tuning unit and the Y-direction fine-tuning unit; a visual acquisition device, which is arranged toward the supporting device; a control device, which is used to obtain initial position information and component position information, and to generate a first control signal, which is used to adsorb the backplane glass above the component to be laminarized, obtain the glass position information collected by the visual acquisition device, generate overlap information, and a second control signal, which is used to adjust the position of the component to be laminarized and place the backplane glass on the component to be laminarized, and obtain a double-glass component.

Description

Technical Field

[0001] The present application relates to the field of photovoltaic technology, and in particular to a control method, device, and medium for a double-glass module assembly machine. Background Art

[0002] As a new type of building material, Building Integrated Photovoltaic (BIPV) double-glass modules not only have the function of power generation, but also can serve as the facade of the building, with the advantages of beauty, environmental protection and energy saving. In the production process of BIPV double-glass modules, the back glass assembly process is one of the key links, which directly affects the performance and service life of the module. In the prior art, the assembly of the back glass mainly relies on manual operation, and the main steps include moving the glass, calibrating the position, adjusting the angle and the final assembly. However, this manual operation method has the following problems:

[0003] 1. High labor intensity: Due to the large size and heavy weight of glass, a lot of physical strength is required during manual handling and operation, resulting in high labor intensity and low work efficiency.

[0004] 2. Low assembly accuracy: Manual operation is difficult to ensure the accuracy of each assembly, which is prone to overlap, resulting in reduced light transmittance and power generation efficiency of the components, affecting the quality of the final product.

[0005] 3. Fragile glass: During transportation and operation, glass is easily bumped and scratched, increasing production costs and scrap rates.

[0006] Therefore, a control method for a double-glass assembly machine is urgently needed to solve at least one of the above problems. Summary of the invention

[0007] The present application provides a double-glass assembly laminating machine and its control method, system, device, and medium, aiming to solve the problem that the laminating of back glass mainly relies on manual operation in the prior art, and the main steps include moving glass, calibrating position, adjusting angle, and final laminating, etc. However, this manual operation method has the following problems: high labor intensity, low laminating precision, easy damage to glass, etc.

[0008] In a first aspect, the present application provides a control method for a double-glass assembly machine, which is used to assemble a back panel glass and an assembly to be assembled, wherein the assembly to be assembled includes a transparent glass and a photovoltaic assembly bonded to the transparent glass; comprising:

[0009] An adsorption device, the adsorption device is used for adsorbing the back panel glass;

[0010] A moving device, the moving device is connected to the adsorption device and is used to control the back panel glass to move in any direction via the adsorption device;

[0011] A supporting device, on which an X-direction fine-tuning unit and a Y-direction fine-tuning unit are provided, and the transparent glass of the assembly to be assembled is arranged on the supporting device via the X-direction fine-tuning unit and the Y-direction fine-tuning unit;

[0012] A visual acquisition device, the visual acquisition device is arranged toward the supporting device;

[0013] A control device, the control device is used to obtain initial position information corresponding to the back panel glass and component position information corresponding to the component to be combined collected by the visual acquisition device, and generate a first control signal according to the initial position information and the component position information, and is used to control the adsorption device and the moving device to coordinately adsorb the back panel glass to the top of the component to be combined, obtain the glass position information corresponding to the back panel glass collected by the visual acquisition device, generate overlap information according to the glass position information and the component position information, and generate a second control signal according to the overlap information, the second control signal is used to control the X-direction fine-tuning unit and the Y-direction fine-tuning unit to coordinately adjust the position of the component to be combined and control the moving device and the adsorption device to place the back panel glass on the component to be combined, complete the combination of the back panel glass and the component to be combined, and obtain a double glass component.

[0014] In a second aspect, an embodiment of the present application provides a control method for a double-glass assembly machine, which is applied to a control device for a double-glass assembly machine provided in any embodiment of the present application; the method comprises:

[0015] Acquire the initial position information corresponding to the back panel glass and the component position information corresponding to the component to be assembled collected by the visual collection device;

[0016] Generate a first control signal according to the initial position information and the component position information, for controlling the adsorption device and the moving device to coordinately adsorb the back panel glass onto the component to be assembled;

[0017] Obtaining glass position information corresponding to the back panel glass acquired by the visual acquisition device, and generating overlap difference information according to the glass position information and the component position information;

[0018] A second control signal is generated according to the overlap difference information. The second control signal is used to control the X-direction fine-tuning unit and the Y-direction fine-tuning unit to coordinately adjust the position of the assembly to be combined and control the moving device and the adsorption device to place the back panel glass on the assembly to be combined, thereby completing the combination of the back panel glass and the assembly to be combined and obtaining a double-glass assembly.

[0019] In a third aspect, the present application provides a control system for a double-glass assembly machine, which is used in the double-glass assembly machine provided in any embodiment of the present application. It includes:

[0020] An information acquisition module, used to acquire initial position information corresponding to the back panel glass and component position information corresponding to the component to be assembled acquired by the visual acquisition device;

[0021] A first generating module, used for generating a first control signal according to the initial position information and the component position information, used for controlling the adsorption device and the moving device to cooperatively adsorb the back plate glass onto the component to be assembled;

[0022] An overlap difference acquisition module, used to acquire glass position information corresponding to the back plate glass acquired by the visual acquisition device, and generate overlap difference information according to the glass position information and the component position information;

[0023] The lamination completion module is used to generate a second control signal according to the overlap difference information, and the second control signal is used to control the X-direction fine-tuning unit and the Y-direction fine-tuning unit to coordinately adjust the position of the assembly to be laminated and control the moving device and the adsorption device to place the back panel glass on the assembly to be laminated, so as to complete the lamination of the back panel glass and the assembly to be laminated and obtain a double-glass assembly.

[0024] In a fourth aspect, the present application further provides a control device, comprising:

[0025] Memory and processor;

[0026] The memory is used to store computer programs;

[0027] The processor is used to execute the computer program and implement the steps of the control method of the double-glass component assembly machine as described in the first aspect above when executing the computer program.

[0028] In a fifth aspect, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the steps of the control method of the double-glass component assembly machine as described in the first aspect above.

[0029] The embodiments of the present application provide a double-glass assembly laminating machine and a control method, system, device, and medium thereof. The method and technology are intended to solve the many problems faced by the prior art in which the back panel glass laminating mainly relies on manual operation, such as high labor intensity, low laminating precision, and easy damage to the glass. The specific technical contents are as follows:

[0030] The adsorption device is used to adsorb the back panel glass. The moving device is connected to the adsorption device and is used to control the movement of the back panel glass in any direction. The supporting device is provided with an X-direction fine-tuning unit and a Y-direction fine-tuning unit, which are used to support the assembly to be combined (including transparent glass and photovoltaic components bonded to the transparent glass) and perform precise position adjustment through the fine-tuning unit. The visual acquisition device is arranged toward the supporting device and is used to collect position information of the back panel glass and the assembly to be combined. Provide the initial position information of the back panel glass. Obtain the component position information of the assembly to be combined collected by the visual acquisition device. Generate a first control signal according to the initial position information and the component position information, and control the adsorption device and the moving device to coordinately adsorb and move the back panel glass above the assembly to be combined. Obtain the glass position information of the back panel glass collected by the visual acquisition device. Generate overlap information according to the glass position information and the component position information. Generate a second control signal according to the overlap information, control the X-direction fine-tuning unit and the Y-direction fine-tuning unit to coordinately adjust the position of the assembly to be combined, and control the moving device and the adsorption device to place the back panel glass on the assembly to be combined, complete the combination process, and generate a double glass assembly.

[0031] The method provided thereby has at least the following beneficial effects:

[0032] 1. Reduce manual labor intensity: Through automated equipment and control methods, the operations of manual handling and adjustment of glass are reduced, significantly reducing labor intensity.

[0033] 2. Improve the accuracy of assembly: The coordinated work of the visual acquisition device and the control device ensures the precise alignment of the back panel glass and the components to be assembled, thereby improving the accuracy of assembly.

[0034] 3. Reduce glass damage: Automated operation avoids improper force and misoperation in manual operation, reducing the damage rate of glass.

[0035] 4. Improve production efficiency: The automated assembly process shortens the assembly time of each component and improves overall production efficiency.

[0036] 5. Easy to operate: Through the intelligent design of the control device, the operator only needs to perform simple startup and monitoring, reducing the complexity of training and operation.

[0037] 6. Strong adaptability: The flexible design of the mobile device and fine-tuning unit enables the wafer joining machine to adapt to photovoltaic modules of different sizes and shapes, improving the versatility and adaptability of the system.

[0038] 7. Quality consistency: Automated control ensures the consistency and repeatability of each assembly process, improving the stability of product quality.

[0039] Through the above-mentioned technical contents and beneficial effects, the double-glass module assembly machine can significantly improve the automation level of the photovoltaic module production process, improve production quality and efficiency, and reduce production costs.

[0040] 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

[0041] 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.

[0042] Figure 1 It is a schematic diagram of a double-glass assembly machine provided in one embodiment of the present application;

[0043] Figure 2 This is a schematic flow chart of the steps of a control method for a double-glass assembly assembly machine provided in one embodiment of the present application;

[0044] Figure 3 It is a structural schematic diagram of a control system of a double-glass assembly assembly machine provided in one embodiment of the present application;

[0045] Figure 4 It is a schematic block diagram of the structure of a control device provided in one embodiment of the present application.

[0046] 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

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] As a new type of building material, Building Integrated Photovoltaic (BIPV) double-glass modules not only have the function of power generation, but also can serve as the facade of the building, with the advantages of beauty, environmental protection and energy saving. In the production process of BIPV double-glass modules, the back glass assembly process is one of the key links, which directly affects the performance and service life of the module. In the prior art, the assembly of the back glass mainly relies on manual operation, and the main steps include moving the glass, calibrating the position, adjusting the angle and the final assembly. However, this manual operation method has the following problems:

[0054] 1. High labor intensity: Due to the large size and heavy weight of glass, a lot of physical strength is required during manual handling and operation, resulting in high labor intensity and low work efficiency.

[0055] 2. Low assembly accuracy: Manual operation is difficult to ensure the accuracy of each assembly, which is prone to overlap, resulting in reduced light transmittance and power generation efficiency of the components, affecting the quality of the final product.

[0056] 3. Fragile glass: During transportation and operation, glass is easily bumped and scratched, increasing production costs and scrap rates.

[0057] Therefore, a control method for a double-glass assembly machine is urgently needed to solve at least one of the above problems.

[0058] To solve the above problems, please refer to Figure 1 , Figure 1 It is a schematic diagram of a double-glass component joining machine provided in an embodiment of the present application. The provided double-glass component joining machine is used to join the back panel glass and the component to be joined, and the component to be joined includes transparent glass and a photovoltaic component bonded to the transparent glass; it includes: an adsorption device 1, a moving device, a supporting device 6, a visual acquisition device (not shown in the figure) and a control device (not shown in the figure). The adsorption device 1 is used to adsorb the back panel glass, and the moving device is connected to the adsorption device 1, and is used to control the movement of the back panel glass in any direction through the adsorption device 1. The supporting device 6 is provided with an X-direction fine-tuning unit 7 and a Y-direction fine-tuning unit 8. The transparent glass of the component to be joined is arranged on the supporting device 6 via the X-direction fine-tuning unit 7 and the Y-direction fine-tuning unit 8. The visual acquisition device is arranged toward the supporting device 6. The control device is used to obtain the initial position information corresponding to the back panel glass and the component position information corresponding to the component to be joined collected by the visual acquisition device, and according to the initial position information and the component position information A first control signal is generated to control the adsorption device 1 and the mobile device to cooperatively adsorb the back panel glass onto the component to be combined, obtain the glass position information corresponding to the back panel glass collected by the visual acquisition device, generate the overlap information according to the glass position information and the component position information, and generate the second control signal according to the overlap information. The second control signal is used to control the X-direction fine-tuning unit 7 and the Y-direction fine-tuning unit 8 to cooperatively adjust the position of the component to be combined and control the mobile device and the adsorption device 1 to place the back panel glass on the component to be combined, complete the combination of the back panel glass and the component to be combined, and obtain a double glass component.

[0059] Specifically, the present application provides a double-glass component lamination machine, which is intended to automate the lamination process of the back panel glass and reduce reliance on manual operation. The lamination machine specifically includes the following parts: an adsorption device 1 is used to adsorb the back panel glass to ensure that the glass does not fall off during movement. The moving device is connected to the adsorption device 1, and is used to control the movement of the back panel glass in any direction to achieve precise positioning. The supporting device 6 is used to place the components to be combined (including transparent glass and photovoltaic components bonded to the transparent glass). The supporting device 6 is provided with an X-direction fine-tuning unit 7 and a Y-direction fine-tuning unit 8, which are used to adjust the position of the components to be combined to ensure high-precision alignment. The visual acquisition device is arranged toward the supporting device 6, and is used to collect the position information of the components to be combined and the back panel glass, and provide accurate reference data for the control device. The control device is used to obtain the initial position information of the back panel glass and the component position information of the component to be combined collected by the visual acquisition device, generate a first control signal, and control the adsorption device 1 and the moving device to adsorb the back panel glass above the component to be combined; then generate the overlap information according to the glass position information and the component position information of the back panel glass collected by the visual acquisition device, generate a second control signal, control the X-direction fine-tuning unit 7 and the Y-direction fine-tuning unit 8 to coordinately adjust the position of the component to be combined, and place the back panel glass on the component to be combined to complete the combination operation.

[0060] The automated laminating machine can replace manual handling and calibration of glass, significantly reduce the intensity of manual labor and improve work efficiency. Through the coordinated work of the visual acquisition device and the control device, high-precision glass alignment and laminating can be achieved, reducing the errors caused by manual operation. Automated operation can more stably control the movement and placement of glass, reduce glass damage caused by improper manual operation, and improve the yield rate. The laminating machine can complete the laminating operation quickly and accurately, increase production speed, and meet the needs of large-scale production. The automated laminating machine can reduce dependence on manual labor, reduce labor costs, and further reduce overall production costs by reducing damage rates and improving production efficiency. High-precision laminating operations can ensure the structural stability and optical performance of double-glass components and improve the overall quality of the product. The laminating machine is reasonably designed and easy to integrate with other production line equipment to achieve full process automation and adapt to different production environments and needs. In summary, the double-glass component laminating machine effectively solves many problems of manual operation in the existing technology through automation and high-precision laminating technology, improves production efficiency and product quality, and reduces production costs.

[0061] In some embodiments, the first control signal includes a first lifting signal, a moving control signal, a rotation control signal and a first adsorption signal; the moving device includes: a lifting unit 4, the lifting unit 4 is connected to the adsorption device 1, and is used to control the adsorption device 1 to move up and down according to the first lifting signal; a moving unit 3, the moving unit 3 is connected to the lifting unit 4, and is used to control the adsorption device 1 to translate in a preset direction according to the moving control signal; a rotation unit 2, the rotation unit 2 is connected to the moving unit 3, and is used to control the adsorption device 1 to rotate according to the rotation control signal; the control device generates a first adsorption signal corresponding to the suction cup of the adsorption device 1 according to the glass size and glass weight of the back panel glass, so as to control the suction cup to suck up the back panel glass according to the first adsorption signal; wherein the ratio of the adsorption area of ​​the suction cup to the glass size ranges from 0.8 to 1, and the ratio of the initial adsorption force corresponding to the first adsorption signal to the glass weight ranges from 1.2 to 2; wherein the control device generates a glass movement trajectory according to the three-dimensional coordinates corresponding to the initial position information and the three-dimensional coordinates corresponding to the component position information, and generates the first lifting signal, the moving control signal and the rotation control signal according to the glass movement trajectory and the first adsorption signal.

[0062] In this embodiment, the first control signal generated by the control device of the laminating machine includes a plurality of detailed control signals, which are respectively used to control different actions of the adsorption device 1 and the moving device. Specifically, the first lifting signal controls the adsorption device 1 to move up and down. The moving control signal controls the adsorption device 1 to move in a preset direction. The rotation control signal controls the adsorption device 1 to rotate. The first adsorption signal generates an adsorption signal of the suction cup according to the size and weight of the back plate glass to ensure that the suction cup can firmly absorb the back plate glass. The lifting unit 4 is connected to the adsorption device 1 and controls the adsorption device 1 to move up and down according to the first lifting signal. The moving unit 3 is connected to the lifting unit 4 and controls the adsorption device 1 to move in a preset direction according to the moving control signal. The rotation unit 2 is connected to the moving unit 3 and controls the adsorption device 1 to rotate according to the rotation control signal. The ratio of the adsorption area of ​​the suction cup of the adsorption device 1 to the size of the back plate glass is in the range of 0.8 to 1, ensuring that the suction cup can effectively absorb the glass. The ratio of the initial adsorption force corresponding to the first adsorption signal to the weight of the back plate glass is in the range of 1.2 to 2, ensuring that the suction cup can firmly absorb the glass. The control device generates a glass movement trajectory according to the initial position information of the back panel glass and the component position information of the component to be assembled. The control device generates a first lifting signal, a moving control signal and a rotation control signal according to the glass movement trajectory and the first adsorption signal, and controls the adsorption device 1 and the moving device to accurately move the back panel glass to the top of the component to be assembled.

[0063] By generating detailed control signals, the multi-dimensional precise movement of the back glass can be achieved, improving the precision of the assembly. The suction area and force of the suction cup can be reasonably controlled to ensure that the glass will not be damaged during the movement. Automatic control of multiple actions reduces the time of manual intervention and improves production efficiency. Appropriate control signals can be generated according to glass of different sizes and weights to meet various production needs.

[0064] Exemplarily, the second control signal includes a second lifting signal, a second adsorption signal, a first fine-tuning signal, and a second fine-tuning signal; the X-direction fine-tuning unit 7 and the Y-direction fine-tuning unit 8 are respectively controlled according to the first fine-tuning signal and the second fine-tuning signal to coordinately adjust the position of the assembly to be combined, and the lifting unit 4 and the adsorption device 1 are respectively controlled according to the second lifting signal and the second adsorption signal to place the back panel glass on the assembly to be combined.

[0065] The second lifting signal controls the adsorption device 1 to move up and down to place the back panel glass on the assembly to be assembled. The second adsorption signal controls the adsorption force of the suction cup to ensure that the glass does not fall off during the placement process. The first fine-tuning signal controls the X-direction fine-tuning unit 7 to adjust the X-direction position of the assembly to be assembled. The second fine-tuning signal controls the Y-direction fine-tuning unit 8 to adjust the Y-direction position of the assembly to be assembled.

[0066] By controlling the X-direction fine-tuning unit 7 and the Y-direction fine-tuning unit 8 according to the first fine-tuning signal and the second fine-tuning signal, the position of the assembly to be assembled is coordinated to ensure the accurate alignment of the assembly to be assembled and the back glass. The lifting unit 4 and the adsorption device 1 are controlled according to the second lifting signal and the second adsorption signal to place the back glass on the assembly to be assembled, and the assembly operation is completed.

[0067] The fine-tuning units in the X and Y directions can achieve high-precision alignment of the components to be assembled and the back glass. The use of the fine-tuning units reduces the errors of manual operation and improves the success rate of assembly and product quality. Reasonable second adsorption signals and second lifting signals ensure the stability of the glass during placement, avoiding damage caused by insufficient adsorption force or unstable lifting.

[0068] Exemplarily, the double-glass component assembly machine also includes: a connecting rod, a moving device is arranged on the connecting rod, and is used for translation on the connecting rod, and a rotating unit is connected to one end of the connecting rod; wherein, the length of the connecting rod is the rotation radius corresponding to the rotation of the lifting unit 4, the moving unit 3 and the rotating unit 2, and the rotation radius and the rotation angle corresponding to the rotating unit 2 constitute a rotation range, and the back panel glass and the component to be assembled are both arranged within the rotation range.

[0069] The structural design of the sheet-joining machine is further described, especially the improvement in the connecting rod and the rotation range. Specifically, the connecting rod moving device is arranged on the connecting rod for translation on the connecting rod. The rotation unit is connected to one end of the connecting rod to control the rotation of the adsorption device 1.

[0070] The length of the connecting rod is the corresponding rotation radius of the lifting unit 4, the moving unit 3 and the rotating unit 2. The rotation radius and the corresponding rotation angle of the rotating unit 2 constitute the rotation range, and the back glass and the assembly to be assembled are both arranged within the rotation range.

[0071] Through the design of the connecting rod, the movement range of the adsorption device 1 can be expanded to accommodate larger glass and components. The combination of the rotation unit and the connecting rod allows the adsorption device 1 to move and rotate in multiple directions and angles, enhancing the flexibility of the device. It ensures that the back panel glass and the components to be assembled are within the rotation range, avoiding equipment failures and safety accidents caused by exceeding the range. The design of the connecting rod and the rotation unit makes the equipment more modular and easy to maintain and upgrade.

[0072] To solve the above problems, please refer to Figure 2 , Figure 2 The present invention is a schematic flow chart of a control method of a double-glass assembly machine provided in an embodiment of the present application. The method is applied to a control device of a double-glass assembly machine provided in any embodiment of the present application. The control method of the double-glass assembly machine can be implemented by a control device, which can be deployed on a single server or a server cluster. It can also be deployed on a handheld terminal, a laptop computer, a wearable device, or a robot.

[0073] like Figure 2 As shown, the control method of the double-glass assembly machine includes steps S101 to S104.

[0074] Step S101. Acquire the initial position information corresponding to the back panel glass and the component position information corresponding to the components to be assembled collected by the visual collection device.

[0075] Specifically, the control device obtains the initial position information of the back panel glass, including its three-dimensional coordinates and posture, through a sensor or a visual acquisition device. At the same time, the visual acquisition device acquires the component position information of the components to be assembled, including the three-dimensional coordinates and posture of the transparent glass and photovoltaic components. These position information provide basic data for subsequent precise positioning and alignment operations.

[0076] The visual acquisition device can accurately collect the position information of glass and components to ensure the accuracy of subsequent operations. By obtaining detailed initial position information, it can reduce the errors caused by human operation and improve the degree of automation.

[0077] Step S102. Generate a first control signal according to the initial position information and the component position information, so as to control the adsorption device and the moving device to coordinately adsorb the back panel glass onto the component to be assembled.

[0078] Specifically, the control device calculates the path and action of the back panel glass moving to the top of the assembly to be assembled based on the acquired initial position information and assembly position information.

[0079] Generate a first control signal, including a first lifting signal, a movement control signal, a rotation control signal and a first adsorption signal. The lifting unit controls the adsorption device to move up and down according to the first lifting signal. The movement unit controls the adsorption device to translate in a preset direction according to the movement control signal. The rotation unit controls the adsorption device to rotate according to the rotation control signal. The adsorption device sucks up the back panel glass according to the first adsorption signal to ensure that the adsorption force matches the weight and size of the glass. Through detailed control signals, multi-dimensional precise movement of the back panel glass can be achieved to ensure that it accurately reaches the top of the component to be assembled. Reasonable adsorption signals ensure the stability of the glass during movement and avoid falling off and damage. Reduce manual intervention and improve production efficiency and operational safety.

[0080] Step S103. Obtain glass position information corresponding to the back panel glass acquired by the visual acquisition device, and generate overlap difference information according to the glass position information and the component position information.

[0081] Specifically, when the back glass moves to the top of the assembly to be assembled, the visual acquisition device again acquires the position information of the back glass, including its three-dimensional coordinates and posture. The control device calculates the overlap difference information between the two, that is, the difference in position and posture, based on the acquired glass position information and assembly position information.

[0082] By collecting the glass position information again, the alignment of the glass and components can be calibrated in real time to ensure the accuracy of the assembly. The generation of the overlap information provides an accurate reference for the subsequent fine-tuning operation and improves the accuracy of the alignment.

[0083] Step S104. Generate a second control signal based on the overlap difference information. The second control signal is used to control the X-direction fine-tuning unit and the Y-direction fine-tuning unit to coordinately adjust the position of the assembly to be combined and control the moving device and the adsorption device to place the back panel glass on the assembly to be combined, thereby completing the combination of the back panel glass and the assembly to be combined and obtaining a double-glass assembly.

[0084] Specifically, the control device generates a second control signal according to the overlap difference information, including a second lifting signal, a second adsorption signal, a first fine-tuning signal, and a second fine-tuning signal. The X-direction fine-tuning unit and the Y-direction fine-tuning unit coordinately adjust the position of the assembly to be assembled according to the first fine-tuning signal and the second fine-tuning signal to ensure that the two are aligned. The adsorption device and the moving device accurately place the back panel glass on the assembly to be assembled according to the second lifting signal and the second adsorption signal to complete the assembly operation. Finally, the double-glass assembly is obtained, and the assembly quality is confirmed by a sensor or a visual acquisition device.

[0085] The use of fine-tuning units ensures the final high-precision alignment and reduces the error in assembly. Reasonable second adsorption signals and second lifting signals ensure the stability of the glass during placement, avoiding damage caused by insufficient adsorption or unstable lifting. Through precise alignment and placement operations, the success rate and yield rate of assembly are improved. The assembly quality is confirmed by the final visual acquisition device to ensure the structural stability and optical performance of the double-glass component.

[0086] The above method ensures high precision of the lamination through multiple position information collection and fine-tuning operations. It reduces manual operation and improves production efficiency and operational safety. Reasonable adsorption force and movement control ensure the stability and integrity of the glass during operation. Through precise alignment and placement operations, the success rate and yield rate of lamination are improved. The quality of lamination is confirmed by the final visual acquisition device to ensure the stability and performance of the product. This method effectively solves many problems of manual operation in the prior art, improves the performance and reliability of the lamination machine, and is suitable for large-scale production environments.

[0087] In some embodiments, the first control signal includes a first lifting signal, a moving control signal, a rotation control signal and a first adsorption signal; the first control signal is generated according to the initial position information and the component position information, and is used to control the adsorption device and the moving device to coordinately adsorb the back panel glass to the top of the component to be assembled, including: generating a first adsorption signal corresponding to the suction cup of the adsorption device according to the glass size and glass weight of the back panel glass, so as to control the suction cup to suck up the back panel glass according to the first adsorption signal; generating a glass movement trajectory according to the three-dimensional coordinates corresponding to the initial position information and the three-dimensional coordinates corresponding to the component position information, and generating a first lifting signal, a moving control signal and a rotation control signal according to the glass movement trajectory and the first adsorption signal; controlling the adsorption device to move up and down according to the first lifting signal, controlling the adsorption device to translate in a preset direction according to the moving control signal, and controlling the adsorption device to rotate according to the rotation control signal.

[0088] The embodiment describes in detail the method for generating the first control signal and its specific control logic, aiming to ensure that the back panel glass can be accurately adsorbed above the component to be combined. The specific steps and contents are as follows: The control device obtains the initial position information of the back panel glass through a sensor or a visual acquisition device, including its three-dimensional coordinates (X, Y, Z) and posture (angle, etc.). At the same time, the visual acquisition device collects the component position information of the component to be combined, including the three-dimensional coordinates and posture of the transparent glass and the photovoltaic component. The control device generates a first adsorption signal corresponding to the suction cup of the adsorption device according to the size and weight of the back panel glass. The ratio of the adsorption area of ​​the suction cup to the size of the glass ranges from 0.8 to 1, ensuring that the suction cup can effectively adsorb the glass. The ratio of the initial adsorption force corresponding to the first adsorption signal to the weight of the glass ranges from 1.2 to 2, ensuring that the suction cup can firmly absorb the glass.

[0089] The control device calculates the path of the back panel glass moving to the top of the assembly to be assembled, i.e., the glass movement trajectory, based on the three-dimensional coordinates corresponding to the initial position information of the back panel glass and the three-dimensional coordinates corresponding to the assembly position information of the assembly to be assembled. The first control signal is generated based on the glass movement trajectory and the first adsorption signal, specifically including: a first lifting signal: used to control the up and down movement of the adsorption device. A movement control signal: used to control the translation of the adsorption device in a preset direction. A rotation control signal: used to control the rotation of the adsorption device.

[0090] Control the adsorption device to move up and down: According to the first lifting signal, the lifting unit controls the adsorption device to move up and down to ensure that the adsorption device can accurately reach the initial position of the back panel glass. Control the translation of the adsorption device: According to the movement control signal, the moving unit controls the adsorption device to translate in a preset direction so that the adsorption device can move along the calculated movement trajectory. Control the rotation of the adsorption device: According to the rotation control signal, the rotation unit controls the adsorption device to rotate so that the adsorption device can adsorb the back panel glass at the required angle and move it accurately above the component to be assembled. Through a detailed control signal generation method and multi-step coordinated control, it is ensured that the back panel glass can be accurately adsorbed above the component to be assembled. This method not only improves the accuracy and efficiency of assembly, but also reduces the dependence and error of manual operation, and enhances the flexibility and safety of the equipment. It is suitable for large-scale production and high-precision photovoltaic module assembly processes, which significantly improves production quality and efficiency.

[0091] Exemplarily, the glass movement trajectory and the first adsorption signal generate a first lifting signal, a movement control signal and a rotation control signal, including: determining the lifting distance, the moving distance and the rotation angle according to the glass movement trajectory; parsing the first adsorption signal to obtain the initial adsorption force corresponding to the suction cup and the dynamic adsorption force during the movement of the adsorption device; obtaining the initial moving speed and the initial rotation speed corresponding to the moving device; calculating the dynamic moving speed corresponding to the moving device according to the initial moving speed, the dynamic adsorption force and the initial adsorption force, and calculating the dynamic rotation speed corresponding to the moving device according to the initial rotation speed, the dynamic adsorption force and the initial adsorption force; generating a first lifting signal according to the dynamic moving speed, the initial moving speed and the lifting distance; generating a movement control signal according to the dynamic moving speed, the initial moving speed and the moving distance; generating a rotation control signal according to the dynamic rotation speed, the initial rotation speed and the rotation angle.

[0092] The lifting distance is the distance that the adsorption device moves up and down according to the glass moving trajectory. The moving distance is the distance that the adsorption device moves horizontally in the preset direction according to the glass moving trajectory. The rotation angle is the angle of rotation of the adsorption device according to the glass moving trajectory.

[0093] Analyze the first adsorption signal to obtain the adsorption force required by the suction cup at the initial position. Analyze the first adsorption signal to obtain the dynamic adsorption force of the suction cup during the movement of the adsorption device. The dynamic adsorption force may vary due to factors such as changes in the position of the glass and the moving speed. Obtain the initial moving speed of the mobile device during the movement of the adsorption device. Obtain the initial rotation speed of the mobile device during the rotation of the adsorption device. Calculate the dynamic moving speed of the mobile device during the movement according to the initial moving speed, the dynamic adsorption force and the initial adsorption force. Calculate the dynamic rotation speed of the mobile device during the rotation according to the initial rotation speed, the dynamic adsorption force and the initial adsorption force. Generate a first lifting signal according to the dynamic moving speed, the initial moving speed and the lifting distance. Generate a movement control signal according to the dynamic moving speed, the initial moving speed and the moving distance. Generate a rotation control signal according to the dynamic rotation speed, the initial rotation speed and the rotation angle.

[0094] By analyzing the glass movement trajectory and adsorption signal in detail, the lifting distance, moving distance and rotation angle can be accurately determined to ensure the precise movement of the back glass at each step. According to the dynamic adsorption force and the initial adsorption force, the dynamic movement speed and the dynamic rotation speed are calculated to ensure that the speed change of the adsorption device during the movement and rotation process adapts to the actual state of the glass and improves the accuracy of the operation. Through the reasonable matching of the initial adsorption force and the dynamic adsorption force, it is ensured that the suction cup can firmly absorb the back glass during the adsorption and movement process, reducing the glass falling off and damage caused by insufficient adsorption force. The calculation of the dynamic movement speed and the dynamic rotation speed enables the adsorption device to adjust the speed smoothly and stably during the movement, avoiding vibration or damage of the glass caused by sudden changes in speed.

[0095] Through detailed analysis and calculation methods, the control signal generation process in the above embodiment is further optimized. Specifically, by analyzing the glass movement trajectory and the first adsorption signal, the lifting distance, moving distance and rotation angle of the adsorption device are determined, and the dynamic movement speed and dynamic rotation speed are calculated based on the dynamic adsorption force and the initial adsorption force. These sophisticated control parameter generation methods not only improve the accuracy and stability of the splicing operation, but also improve production efficiency and adaptability, ensuring the efficient and reliable operation of the double-glass component splicing machine in actual production.

[0096] It should be noted that, in some embodiments, the dynamic moving speed corresponding to the mobile device is calculated according to the initial moving speed, the dynamic adsorption force and the initial adsorption force, including: obtaining the glass size of the back panel glass and the maximum size that the suction cup can adsorb; calculating the dynamic moving speed according to the glass size, the maximum size, the initial moving speed, the dynamic adsorption force and the initial adsorption force; the expression of the dynamic moving speed includes:

[0097] ;

[0098] in, is the dynamic moving speed, is the initial moving speed, is the dynamic adsorption force, is the initial adsorption force, is the glass size, is the maximum size, is the preset glass size coefficient.

[0099] Through the expression of dynamic moving speed, the moving speed of the moving device can be adjusted in real time according to the changes in adsorption force and glass size, ensuring accurate control of the back glass during movement. The adjustment of dynamic speed can reduce the movement error caused by changes in adsorption force or different glass sizes, and improve the accuracy of the final alignment.

[0100] When there is a large difference between the dynamic adsorption force and the initial adsorption force, the moving speed will be reduced accordingly to ensure that the adsorption device can maintain a firm adsorption of the back panel glass during the movement process and reduce the risk of falling off. When the glass size is close to the maximum adsorption size of the suction cup, the moving speed will also be appropriately reduced to reduce the adsorption instability caused by the glass being too large, and further improve the stability of the operation. The adjustment of the dynamic speed can avoid the vibration or falling of the glass caused by the excessive movement speed, and reduce the risk of damage to the glass during operation. Through real-time monitoring of the dynamic adsorption force, the system can adjust the moving speed in time to ensure the safety of the operation process.

[0101] Under the premise of ensuring stability and accuracy, the calculation of dynamic speed enables the mobile device to operate at the optimal speed, reducing unnecessary deceleration and acceleration time, and improving production efficiency. Through precise speed adjustment, invalid movement caused by adsorption force or different glass sizes can be reduced, making each action more efficient. This method can adapt to glass of different sizes and weights, improving the flexibility and adaptability of the laminating machine. Through the preset glass size coefficient μ, the coefficient value can be adjusted in different production environments to optimize system performance.

[0102] It should be noted that, in some embodiments, a preset sensor is installed on the suction cup to measure the real-time adsorption force of the suction cup; a first adsorption signal is generated according to the adsorption area corresponding to the suction cup of the adsorption device, the glass size of the back panel glass, and the glass weight, including: determining the adsorption area according to the glass size; the ratio of the adsorption area to the glass size is in the range of 0.8 to 1; determining the initial adsorption force according to the glass weight; the ratio of the initial adsorption force to the glass weight is in the range of 1.2 to 2; generating a dynamic adsorption force according to the initial adsorption force, the adsorption area, and the real-time adsorption force, so as to generate a first adsorption signal according to the dynamic adsorption force, the initial adsorption force, and the adsorption area; the expression of the first adsorption signal includes:

[0103] ;

[0104] in, is the dynamic adsorption force, is the initial adsorption force, For real-time adsorption.

[0105] The sensor on the suction cup monitors the suction force in real time to ensure that the suction force can adapt to the changes of the glass at any time and improve the accuracy of suction. The expression of dynamic suction force is adjusted according to the changes in real-time suction force to ensure the stability of suction force during the movement of glass.

[0106] The ratio of the suction area to the glass size ranges from 0.8 to 1, ensuring good contact between the suction cup and the glass and reducing the risk of unstable suction. The ratio of the initial suction force to the glass weight ranges from 1.2 to 2, ensuring that the suction cup can firmly pick up the glass and avoid the glass falling due to insufficient suction force.

[0107] Real-time adsorption force monitoring and dynamic adsorption force adjustment can timely detect and correct abnormal conditions in the adsorption process and reduce the risk of glass damage. The dynamic adsorption force calculation method enables the system to automatically adjust the adsorption force according to the changes in real-time adsorption force to ensure the safety of the operation process. By real-time monitoring and dynamic adjustment of adsorption force, the adjustment time caused by unstable adsorption force is reduced and production efficiency is improved. High-precision and high-stability adsorption control enables each operation step to be completed more efficiently and accurately. It can generate appropriate adsorption force according to glass of different sizes and weights to meet various production needs. The adjustment of dynamic adsorption force enables the system to adapt to the influence of environmental changes (such as temperature, air pressure, etc.) on adsorption force and maintain stable operating performance.

[0108] In summary, the adsorption control of the back glass is further optimized through a detailed adsorption force generation method. Specifically, the real-time adsorption force is monitored in real time by the sensor on the suction cup, and the initial adsorption force is generated according to the glass size and weight. The dynamic adsorption force is then calculated through the expression of the dynamic adsorption force, ensuring the high precision, high stability and high safety of the adsorption process. This method not only improves the automation and production efficiency of the assembly machine, but also enhances the adaptability of the system, enabling it to operate stably in different production environments. It is particularly suitable for photovoltaic module assembly processes that require high precision and high stability.

[0109] In some embodiments, the component position information includes the first corner point position, the first center position and the first contour of the component to be assembled; the glass position information corresponding to the back panel glass acquired by the visual acquisition device is obtained, and the overlay information is generated according to the glass position information and the component position information, including: obtaining the glass image information corresponding to the glass corresponding to the back panel glass acquired by the visual acquisition device; performing target detection on the glass image information, and obtaining the second contour, the second corner point position and the second center position corresponding to the back panel glass; calculating the X-direction deviation corresponding to the coordinates of the first center position in the X direction and the coordinates of the second center position in the X direction; calculating the Y-direction deviation corresponding to the coordinates of the first center position in the Y direction and the coordinates of the second center position in the Y direction; calculating the corner point deviation corresponding to the first angle position and the second angle position; the corner point deviation includes the average deviation corresponding to the four corner points of the back panel glass and the four corner points of the component to be assembled; calculating the edge deviation corresponding to the first contour and the second contour; generating the overlay information according to the X-direction deviation, the Y-direction deviation, the corner point deviation and the corner point deviation.

[0110] The first corner point position is the four corner point positions of the component to be assembled. The first center position is the center position of the component to be assembled. The first outline is the outline information of the component to be assembled.

[0111] Use a visual acquisition device (such as a camera) to collect image information of the backplane glass. Obtain image information of the backplane glass. Perform target detection on the glass image information to obtain contour information of the backplane glass (second contour). Obtain the positions of the four corner points of the backplane glass (second corner point positions). Obtain the center position of the backplane glass (second center position).

[0112] Calculate the deviation between the coordinates of the first center position in the X direction and the coordinates of the second center position in the X direction. Calculate the deviation between the coordinates of the first center position in the Y direction and the coordinates of the second center position in the Y direction. Calculate the average deviation between the four corner points of the back panel glass and the four corner points of the assembly to be assembled. Calculate the edge deviation between the first contour and the second contour. Generate comprehensive overlap information based on the X-direction deviation, Y-direction deviation, corner point deviation and edge deviation for subsequent alignment and correction operations.

[0113] By calculating the X-direction deviation, Y-direction deviation, corner point deviation and edge deviation, the multi-dimensional precise alignment of the position between the backplane glass and the component to be assembled is achieved. The application of image information obtained by the visual acquisition device and target detection technology ensures the comprehensiveness and accuracy of the backplane glass position information. The generated overlap information can be used in real time for alignment and correction operations to ensure that the backplane glass always remains in the correct position during the assembly process and reduce operational failures caused by position deviation. By calculating the average deviation of the four corner points, the overall alignment of the backplane glass can be ensured to be more stable, avoiding the impact of local deviations on the assembly process.

[0114] Through detailed steps, it is explained how to generate the overlap information based on the back glass position information obtained by the visual acquisition device and the known component position information. The specific steps include target detection, multi-dimensional deviation calculation and generation of comprehensive overlap information. This method not only improves the alignment accuracy and stability between the back glass and the components to be assembled, but also optimizes production efficiency, increases the adaptability and reliability of the system, and is particularly suitable for photovoltaic component assembly processes that require high-precision alignment. Through this method, the assembly machine can achieve efficient and reliable operation in actual production, reduce misoperation and rework, and improve overall production quality.

[0115] Exemplarily, target detection is performed on the glass image information to obtain a second contour, a second corner point position and a second center position corresponding to the backplane glass, including: performing edge detection on the glass image information to obtain an edge contour corresponding to the backplane glass; performing scale-invariant feature transformation on the glass image information to obtain four corner point coordinates corresponding to the backplane glass, and generating a second corner point position based on the four corner point coordinates; obtaining parameter information corresponding to the backplane glass, and calculating the second center position corresponding to the backplane glass based on the parameter information, the edge contour and the second corner point position.

[0116] Perform edge detection on the glass image information to extract the edge contour of the back glass. Perform scale-invariant feature transform (SIFT) on the glass image information to obtain the coordinates of the four corner points of the back glass. Generate the second corner point position of the back glass based on the coordinates of the four corner points.

[0117] Obtain relevant parameter information of the back panel glass, such as size, shape, etc. Calculate the second center position of the back panel glass according to the parameter information, edge contour and second corner point position of the back panel glass.

[0118] Edge detection can accurately extract the contour information of the back glass, providing a basis for subsequent alignment. The scale-invariant feature transform (SIFT) can accurately extract the corner position of the back glass, and maintain the accuracy of detection even at different scales. Through image processing technology, fast and automatic detection of the back glass position information is achieved, reducing the time and error of manual detection. The SIFT algorithm and edge detection method are efficient and reliable, and can complete target detection in a short time, improving production efficiency.

[0119] Through the comprehensive detection of edge contours and four corner points, multi-point verification of the back glass position is ensured, which improves the stability and reliability of detection. Multi-dimensional information extraction and calculation methods reduce the risk of misjudgment caused by a single detection method.

[0120] Edge detection and SIFT feature extraction methods can adapt to different shapes and sizes of back glass, improving the flexibility and adaptability of the system. Image processing technology can still maintain high detection accuracy under different light and environmental conditions, ensuring the stable operation of the system.

[0121] Exemplarily, the second control signal includes an X-direction fine-tuning signal, a Y-direction fine-tuning signal, and a rotation fine-tuning signal; generating the second control signal according to the overlay information includes: decomposing the edge deviation, obtaining the X-direction edge deviation and the Y-direction edge deviation corresponding to the first contour and the second contour; generating an X-direction fine-tuning signal according to the X-direction deviation and the X-direction edge deviation, which is used to control the X-direction fine-tuning unit to adjust the position of the to-be-assembled component; generating a Y-direction fine-tuning signal according to the Y-direction deviation and the Y-direction edge deviation, which is used to control the Y-direction fine-tuning unit to adjust the position of the to-be-assembled component; generating a rotation angle according to the corner point deviation, and generating a rotation fine-tuning signal according to the rotation angle, so as to control the rotating unit of the mobile device to control the back panel glass to rotate according to the rotation fine-tuning signal.

[0122] Decompose the deviation of the first contour and the second contour in the X direction from the edge deviation. Decompose the deviation of the first contour and the second contour in the Y direction from the edge deviation. Generate an X-direction fine-tuning signal based on the X-direction deviation and the X-direction edge deviation, which is used to control the X-direction fine-tuning unit to adjust the position of the assembly to be assembled. Generate a Y-direction fine-tuning signal based on the Y-direction deviation and the Y-direction edge deviation, which is used to control the Y-direction fine-tuning unit to adjust the position of the assembly to be assembled. Generate a rotation angle based on the corner point deviation. Generate a rotation fine-tuning signal based on the rotation angle to control the rotation unit of the mobile device to adjust the position of the back panel glass according to the rotation fine-tuning signal.

[0123] Through the X-direction fine-tuning signal, Y-direction fine-tuning signal and rotation fine-tuning signal, the back glass is precisely adjusted in multiple dimensions to ensure the final alignment accuracy. Decomposing edge deviations and calculating rotation angles enable the system to comprehensively process multiple position deviations and avoid errors caused by local adjustments. By generating fine-tuning signals in real time, the system can adjust the position of the back glass in a timely manner to ensure the stability and reliability of the alignment process. The method for generating fine-tuning signals can accurately control each fine-tuning unit of the mobile device and reduce alignment failures caused by position deviations.

[0124] By calculating the rotation angle and generating a rotation fine-tuning signal, damage or falling of the glass caused by excessive rotation can be avoided, ensuring the safety of operation. The multi-dimensional fine-tuning signal generation method can reduce misoperation caused by a single adjustment and improve the safety of the system.

[0125] By automatically generating fine-tuning signals, the system can complete precise adjustments to the back glass in a short time, reducing alignment time and improving production efficiency. The precise fine-tuning signal generation method reduces rework caused by inaccurate alignment, further improving production efficiency.

[0126] The multi-dimensional adjustment method can adapt to components of different shapes and sizes, improving the flexibility and adaptability of the system. The fine-tuning signal generation method can work stably in different production environments and adapt to the impact of environmental changes (such as temperature, humidity, etc.) on operation.

[0127] See also Figure 3 As shown, Figure 3 1 is a schematic diagram of the structure of the control system 200 of the double-glass assembly machine provided in the embodiment of the present application. The control system 200 of the double-glass assembly machine is used to execute the steps of the control method of the double-glass assembly machine shown in the above embodiments. The control system 200 of the double-glass assembly machine can be a single server or a server cluster, or the control system 200 of the double-glass assembly machine can be a terminal, which can be a handheld terminal, a laptop computer, a wearable device or a robot, etc.

[0128] like Figure 3 As shown, the control system 200 of the double-glass assembly machine includes:

[0129] The information acquisition module 201 is used to acquire the initial position information corresponding to the back plate glass and the component position information corresponding to the component to be assembled acquired by the visual acquisition device;

[0130] A first generating module 202, for generating a first control signal according to the initial position information and the component position information, for controlling the adsorption device and the moving device to cooperatively adsorb the back plate glass onto the component to be assembled;

[0131] The overlap difference acquisition module 203 is used to acquire the glass position information corresponding to the back plate glass acquired by the visual acquisition device, and generate overlap difference information according to the glass position information and the component position information;

[0132] The lamination completion module 204 is used to generate a second control signal according to the overlap difference information, and the second control signal is used to control the X-direction fine-tuning unit and the Y-direction fine-tuning unit to coordinately adjust the position of the assembly to be laminated and control the moving device and the adsorption device to place the back panel glass on the assembly to be laminated, so as to complete the lamination of the back panel glass and the assembly to be laminated and obtain a double-glass assembly.

[0133] It should be noted that, those skilled in the art can clearly understand that, for the convenience and simplicity of description, the control system of the double-glass component splicing machine and the specific working processes of each module described above can refer to the corresponding processes in the control method embodiments of the double-glass component splicing machine described in the above embodiments, and will not be repeated here.

[0134] The control method of the double-glass assembly machine can be implemented in the form of a computer program. Figure 3 Run on the system shown.

[0135] See also Figure 4 , Figure 4 : is a schematic block diagram of the structure of a control device provided in an embodiment of the present application. The control device 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.

[0136] 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 control method of a double-glass component assembly machine.

[0137] The processor is used to provide computing and control capabilities and support the operation of the entire control device.

[0138] 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 control method of the double-glass component assembly machine.

[0139] 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 control device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0140] 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.

[0141] In one embodiment, the processor is used to run a computer program stored in the memory to implement the following steps:

[0142] Acquire the initial position information corresponding to the back panel glass and the component position information corresponding to the component to be assembled collected by the visual collection device;

[0143] Generate a first control signal according to the initial position information and the component position information, for controlling the adsorption device and the moving device to coordinately adsorb the back panel glass onto the component to be assembled;

[0144] Obtaining glass position information corresponding to the back panel glass acquired by the visual acquisition device, and generating overlap difference information according to the glass position information and the component position information;

[0145] A second control signal is generated according to the overlap difference information. The second control signal is used to control the X-direction fine-tuning unit and the Y-direction fine-tuning unit to coordinately adjust the position of the assembly to be combined and control the moving device and the adsorption device to place the back panel glass on the assembly to be combined, thereby completing the combination of the back panel glass and the assembly to be combined and obtaining a double-glass assembly.

[0146] 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 control method of the double-glass component assembly machine as described in the first aspect above.

[0147] The computer-readable storage medium may be an internal storage unit of the control device described in the above embodiment, such as a hard disk or memory of the control device. The computer-readable storage medium may also be an external storage device of the control device, 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 control device.

[0148] 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 double-glass assembly machine, characterized in that: Used for joining back plate glass and a component to be joined, wherein the component to be joined includes transparent glass and a photovoltaic component bonded to the transparent glass; comprising: An adsorption device, the adsorption device is used to adsorb the back panel glass; A moving device, the moving device is connected to the adsorption device and is used to control the back panel glass to move in any direction via the adsorption device; A supporting device, wherein an X-direction fine-tuning unit and a Y-direction fine-tuning unit are provided on the supporting device, and the transparent glass of the assembly to be assembled is arranged on the supporting device via the X-direction fine-tuning unit and the Y-direction fine-tuning unit; A visual acquisition device, wherein the visual acquisition device is disposed toward the supporting device; A control device, the control device is used to obtain initial position information corresponding to the back panel glass and component position information corresponding to the component to be combined collected by the visual acquisition device, and generate a first control signal according to the initial position information and the component position information, used to control the adsorption device and the moving device to coordinately adsorb the back panel glass to the top of the component to be combined, obtain glass position information corresponding to the back panel glass collected by the visual acquisition device, generate overlap information according to the glass position information and the component position information, and generate a second control signal according to the overlap information, the second control signal is used to control the X-direction fine-tuning unit and the Y-direction fine-tuning unit to coordinately adjust the position of the component to be combined and control the moving device and the adsorption device to place the back panel glass on the component to be combined, complete the combination of the back panel glass and the component to be combined, and obtain a double glass component.

2. The double-glass assembly machine according to claim 1, characterized in that: The first control signal includes a first lifting signal, a moving control signal, a rotation control signal and a first adsorption signal; the moving device includes: a lifting unit, the lifting unit being connected to the adsorption device and being used for controlling the adsorption device to move up and down according to the first lifting signal; A moving unit, the moving unit is connected to the lifting unit and is used to control the adsorption device to move in a preset direction according to the movement control signal; A rotation unit, the rotation unit is connected to the moving unit and is used to control the rotation of the adsorption device according to the rotation control signal; The control device generates a first adsorption signal corresponding to the suction cup of the adsorption device according to the glass size and glass weight of the back plate glass, so as to control the suction cup to suck up the back plate glass according to the first adsorption signal; wherein the ratio of the adsorption area of ​​the suction cup to the glass size is in a range of 0.8 to 1, and the ratio of the initial adsorption force corresponding to the first adsorption signal to the glass weight is in a range of 1.2 to 2; Among them, the control device generates a glass movement trajectory according to the three-dimensional coordinates corresponding to the initial position information and the three-dimensional coordinates corresponding to the component position information, and generates the first lifting signal, movement control signal and rotation control signal according to the glass movement trajectory and the first adsorption signal.

3. The double-glass assembly machine according to claim 2, characterized in that: The second control signal includes a second lifting signal, a second adsorption signal, a first fine-tuning signal and a second fine-tuning signal; the X-direction fine-tuning unit and the Y-direction fine-tuning unit are respectively controlled according to the first fine-tuning signal and the second fine-tuning signal to coordinately adjust the position of the to-be-assembled component, and the lifting unit and the adsorption device are respectively controlled according to the second lifting signal and the second adsorption signal to place the back panel glass on the to-be-assembled component.

4. The double-glass assembly machine according to claim 2, characterized in that: The double-glass component assembly machine also includes: A connecting rod, the moving device is arranged on the connecting rod and is used for translation on the connecting rod, and the rotary unit is connected to one end of the connecting rod; Among them, the length of the connecting rod is the rotation radius corresponding to the rotation of the lifting unit, the moving unit and the rotating unit, the rotation radius and the rotation angle corresponding to the rotating unit constitute a rotation range, and the back panel glass and the assembly to be combined are both arranged within the rotation range.

5. A control method for a double-glass assembly machine, characterized in that: A control device for a double-glass assembly assembly machine according to any one of claims 1 to 4; the method comprising: Acquire the initial position information corresponding to the back plate glass and the component position information corresponding to the component to be assembled collected by the visual collection device; Generate a first control signal according to the initial position information and the component position information, for controlling the adsorption device and the moving device to cooperatively adsorb the back plate glass onto the component to be assembled; Acquire glass position information corresponding to the back panel glass acquired by the visual acquisition device, and generate overlap difference information according to the glass position information and the component position information; A second control signal is generated according to the overlap difference information, and the second control signal is used to control the X-direction fine-tuning unit and the Y-direction fine-tuning unit to coordinately adjust the position of the assembly to be combined and control the moving device and the adsorption device to place the back panel glass on the assembly to be combined, so as to complete the combination of the back panel glass and the assembly to be combined and obtain a double-glass assembly.

6. The method according to claim 5, characterized in that The first control signal includes a first lifting signal, a moving control signal, a rotation control signal and a first adsorption signal; the first control signal is generated according to the initial position information and the component position information, and is used to control the adsorption device and the moving device to coordinately adsorb the back plate glass to the top of the component to be combined, including: Generate a first adsorption signal corresponding to the suction cup of the adsorption device according to the glass size and glass weight of the back plate glass, so as to control the suction cup to absorb the back plate glass according to the first adsorption signal; A glass movement trajectory is generated according to the three-dimensional coordinates corresponding to the initial position information and the three-dimensional coordinates corresponding to the component position information, and the first lifting signal, movement control signal and rotation control signal are generated according to the glass movement trajectory and the first adsorption signal; the adsorption device is controlled to move up and down according to the first lifting signal, the adsorption device is controlled to translate in a preset direction according to the movement control signal, and the adsorption device is controlled to rotate according to the rotation control signal.

7. The method according to claim 6, characterized in that The generating the first lifting signal, the moving control signal and the rotating control signal according to the glass moving trajectory and the first adsorption signal comprises: Determine the lifting distance, moving distance and rotation angle according to the glass moving trajectory; Analyzing the first adsorption signal to obtain an initial adsorption force corresponding to the suction cup and a dynamic adsorption force during the movement of the adsorption device; Obtaining an initial moving speed and an initial rotation speed corresponding to the moving device; Calculating the dynamic movement speed corresponding to the mobile device according to the initial movement speed, the dynamic adsorption force and the initial adsorption force, and calculating the dynamic rotation speed corresponding to the mobile device according to the initial rotation speed, the dynamic adsorption force and the initial adsorption force; Generate the first lifting signal according to the dynamic moving speed, the initial moving speed and the lifting distance; generating the movement control signal according to the dynamic movement speed, the initial movement speed and the movement distance; The swivel control signal is generated according to the dynamic swivel speed, the initial swivel speed and the swivel angle.

8. The method according to claim 7, characterized in that The calculating the dynamic moving speed corresponding to the moving device according to the initial moving speed, the dynamic adsorption force and the initial adsorption force comprises: Obtaining the glass size of the back panel glass and the maximum size that the suction cup can absorb; The dynamic moving speed is calculated according to the glass size, the maximum size, the initial moving speed, the dynamic adsorption force and the initial adsorption force; the expression of the dynamic moving speed includes: ; in, is the dynamic moving speed, is the initial moving speed, is the dynamic adsorption force, is the initial adsorption force, is the glass size, is the maximum size, is the preset glass size coefficient.

9. The method according to claim 7, characterized in that: The suction cup is provided with a preset sensor for measuring the real-time adsorption force of the suction cup; the first adsorption signal is generated according to the adsorption area corresponding to the suction cup of the adsorption device, the glass size and the glass weight of the back plate glass, including: The adsorption area is determined according to the glass size; the ratio of the adsorption area to the glass size is in a range of 0.8 to 1; Determining the initial adsorption force according to the weight of the glass; the ratio of the initial adsorption force to the weight of the glass is in a range of 1.2 to 2; The dynamic adsorption force is generated according to the initial adsorption force, the adsorption area and the real-time adsorption force, so as to generate the first adsorption signal according to the dynamic adsorption force, the initial adsorption force and the adsorption area; the expression of the first adsorption signal includes: ； Among them, the is the dynamic adsorption force, is the initial adsorption force, is the real-time adsorption force.

10. The method according to claim 5, characterized in that The component position information includes the first corner point position, the first center position and the first contour of the component to be assembled; the obtaining of the glass position information corresponding to the back plate glass acquired by the visual acquisition device, and generating the overlap difference information according to the glass position information and the component position information, includes: Acquire glass image information corresponding to the back panel glass acquired by the visual acquisition device; Performing target detection on the glass image information to obtain a second contour, a second corner point position, and a second center position corresponding to the backplane glass; Calculating an X-direction deviation corresponding to the coordinate of the first center position in the X-direction and the coordinate of the second center position in the X-direction; Calculating a Y-direction deviation corresponding to the coordinate of the first center position in the Y direction and the coordinate of the second center position in the Y direction; Calculating the corner point deviations corresponding to the first corner point position and the second corner point position; the corner point deviations include average deviations corresponding to the four corner points of the back panel glass and the four corner points of the assembly to be assembled; Calculating edge deviations corresponding to the first contour and the second contour; The overlay difference information is generated according to the X-direction deviation, the Y-direction deviation, the corner point deviation and the corner point deviation.

11. The method according to claim 10, characterized in that The performing target detection on the glass image information to obtain a second contour, a second corner point position, and a second center position corresponding to the back plate glass includes: Performing edge detection on the glass image information to obtain an edge contour corresponding to the back panel glass; Performing scale-invariant feature transformation on the glass image information, obtaining coordinates of four corner points corresponding to the back plate glass, and generating the second corner point position according to the four corner point coordinates; Parameter information corresponding to the back panel glass is obtained, and a second center position corresponding to the back panel glass is calculated according to the parameter information, the edge contour and the second corner point position.

12. The method according to claim 10, characterized in that The second control signal includes an X-direction fine-tuning signal, a Y-direction fine-tuning signal, and a rotation fine-tuning signal; and generating the second control signal according to the overlay difference information includes: Decomposing the edge deviation to obtain an X-direction edge deviation and a Y-direction edge deviation corresponding to the first contour and the second contour; Generating the X-direction fine-tuning signal according to the X-direction deviation and the X-direction edge deviation, for controlling the X-direction fine-tuning unit to adjust the position of the assembly to be assembled; Generating the Y-direction fine-tuning signal according to the Y-direction deviation and the Y-direction edge deviation, for controlling the Y-direction fine-tuning unit to adjust the position of the to-be-assembled component; A rotation angle is generated according to the corner point deviation, and the rotation fine-tuning signal is generated according to the rotation angle to control the rotation unit of the mobile device to control the back panel glass to rotate according to the rotation fine-tuning signal.

13. A control system for a double-glass assembly machine, characterized in that: A control device for a double-glass assembly assembly machine according to any one of claims 1 to 4; the system comprises: An information acquisition module, used to acquire initial position information corresponding to the back panel glass and component position information corresponding to the component to be assembled acquired by the visual acquisition device; A first generating module, used for generating a first control signal according to the initial position information and the component position information, used for controlling the adsorption device and the moving device to cooperatively adsorb the back plate glass onto the component to be assembled; An overlap difference acquisition module, used to acquire glass position information corresponding to the back plate glass acquired by the visual acquisition device, and generate overlap difference information according to the glass position information and the component position information; The lamination completion module is used to generate a second control signal according to the overlap difference information, and the second control signal is used to control the X-direction fine-tuning unit and the Y-direction fine-tuning unit to coordinately adjust the position of the assembly to be laminated and control the moving device and the adsorption device to place the back panel glass on the assembly to be laminated, so as to complete the lamination of the back panel glass and the assembly to be laminated and obtain a double-glass assembly.

14. A control device, characterized in that: The control device includes a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and implement the method according to any one of claims 5 to 12 when executing the computer program.

15. 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 12.

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