Flexible liquid crystal panel 3D edge polishing and cleaning brush system and method

Abstract

The invention relates to the field of polishing, in particular to a flexible liquid crystal panel 3D edge polishing and cleaning brush system and method. Comprising the following steps: acquiring surface data of the flexible liquid crystal panel to obtain a three-dimensional surface data set of the flexible liquid crystal panel; extracting geometric features based on the surface data of the flexible liquid crystal panel, wherein the geometric features comprise local curvature and normal vector; based on the surface data and geometrical characteristics of the flexible liquid crystal panel, a dynamic polishing force adjusting algorithm is used for calculation to obtain brush applying force; on the basis of the local curvature and the brush applying force, the brush rotating speed is calculated through a dynamic brush rotating speed calculation algorithm; and dynamically adjusting the vacuum suction force by using a vacuum suction force optimization algorithm based on the brush rotating speed and the brush applying force. The technical problems that the surface of the flexible liquid crystal panel is fragile and prone to damage, and a traditional polishing method possibly cannot adapt to the characteristics of materials, so that uneven polishing or surface damage is caused are solved.

Description

Technical Field

[0001] The present invention relates to the field of polishing, and particularly to a flexible liquid crystal panel 3D edge polishing and cleaning brush system and method. Background Art

[0002] With the rapid development of electronic information technology, liquid crystal panels have become the mainstream of modern display technology due to their excellent display effects and low power consumption. However, in the traditional liquid crystal panel production process, edge treatment has always relied on mechanical polishing, manual polishing, and chemical polishing methods. Although mechanical polishing can quickly process large areas of edges, due to the lack of precise control, it is easy to cause excessive edge wear or scratches, affecting the quality of liquid crystal panels. Manual polishing, although having high precision, has a complex process and is difficult to ensure consistency, and the efficiency is low. Chemical polishing may cause certain chemical corrosion to the edge materials and has a large impact on the environment. Therefore, a flexible liquid crystal panel 3D edge polishing and cleaning brush system and method have emerged. Compared with traditional polishing methods, brush polishing has strong flexibility and can adapt to the treatment of irregular curved surfaces and complex-shaped surfaces. By rotating the brush to make contact with the surface of the object to be treated, the elastic deformation of the bristles and the frictional force generated by high-speed rotation are used to remove surface defects, flatten the surface, and achieve the cleaning function. By combining flexible brush polishing technology with intelligent control technology, it can effectively solve the problems of precision, efficiency, and damage in liquid crystal panel edge treatment, providing technical support for the further optimization of liquid crystal panel production processes.

[0003] However, the above technology has at least the following technical problems: The surface of the flexible liquid crystal panel is relatively fragile and easily damaged. Traditional polishing methods may not be able to adapt to the material characteristics, resulting in uneven polishing or surface damage; during the polishing and cleaning brush process, dirt and fine particles are likely to accumulate on the surface of the liquid crystal panel, which will affect the display effect or quality of the liquid crystal panel; traditional polishing and cleaning are often carried out separately, and multiple operations will increase production costs and processing time. Summary of the Invention

[0004] The present invention provides a flexible liquid crystal panel 3D edge polishing and cleaning brush system and method to solve the technical problems that the surface of the flexible liquid crystal panel is relatively fragile and easily damaged, traditional polishing methods may not be able to adapt to the material characteristics, resulting in uneven polishing or surface damage; during the polishing and cleaning brush process, dirt and fine particles are likely to accumulate on the surface of the liquid crystal panel, which will affect the display effect or quality of the liquid crystal panel; traditional polishing and cleaning are often carried out separately, and multiple operations will increase production costs and processing time.

[0005] A flexible liquid crystal panel 3D edge polishing and cleaning brush system and method of the present invention specifically include the following technical solutions:

[0006] A method for 3D edge polishing and cleaning of a flexible liquid crystal panel using a brush, comprising the following steps:

[0007] S1: Obtain the surface data of the flexible liquid crystal panel to obtain a three-dimensional surface data set of the flexible liquid crystal panel; extract geometric features based on the surface data of the flexible liquid crystal panel, and the geometric features include: local curvature and normal vector;

[0008] S2: Based on the surface data and geometric features of the flexible liquid crystal panel, use a dynamic polishing force adjustment algorithm to calculate the force applied by the brush;

[0009] S3: Based on the local curvature and the force applied by the brush, use a dynamic brush rotation speed calculation algorithm to calculate the brush rotation speed;

[0010] S4: Based on the brush rotation speed and the force applied by the brush, use a vacuum suction force optimization algorithm to dynamically adjust the vacuum suction force.

[0011] Preferably, the S1 specifically includes:

[0012] The calculation of the local curvature is based on the height value of each point on the surface of the flexible liquid crystal panel, and the second-order derivatives of the height value with respect to the x and y directions are calculated. The specific formula is:

[0013]

[0014] where κ i (t) represents the bending degree of the surface of the flexible liquid crystal panel at the i-th point at time t, that is, the local curvature; z i (t) represents the height value of the i-th point at time t; represents the second-order derivative of the height value of the i-th point in the x direction; represents the second-order derivative of the height value of the i-th point in the y direction.

[0015] Preferably, the S1 specifically includes:

[0016] The normal vector is a vector describing the orientation of the surface of the flexible liquid crystal panel, and is composed of three components. The specific formula is:

[0017]

[0018] where n i (t) represents the normal vector at the i-th point at time t; represents the first-order derivative of the height value of the i-th point in the x direction; represents the first-order derivative of the height value of the i-th point in the y direction; -1 represents the direction of the normal vector in the z direction.

[0019] Preferably, the S2 specifically includes:

[0020] In the implementation process of the dynamic polishing force adjustment algorithm, for each point, calculate the difference between the height value of the current point and the target height. The greater the height difference, the greater the force applied by the brush; and based on the local curvature, adjust the force applied by the brush.

[0021] Preferably, the S2 specifically includes:

[0022] In the implementation process of the dynamic polishing force adjustment algorithm, calculate the angle between the normal vector and the brush movement direction, and combine the dynamic elastic adjustment factor, amplitude adjustment parameter, and vibration frequency to obtain the force applied by the brush. The specific formula is:

[0023]

[0024] Among them, F i (t) represents the force applied by the brush at the i-th point at time t; κ i (t) represents the degree of bending of the surface of the flexible liquid crystal panel at the i-th point at time t, that is, the local curvature; represents the difference between the height value of the i-th point at time t and the target height; α·sin(ωt) represents the dynamic elastic adjustment factor; α represents the amplitude adjustment parameter; sin represents the sine function; ω represents the vibration frequency; θ i (t) represents the angle between the normal vector and the brush movement direction at the i-th point at time t; cos(θ i (t)) represents the cosine value of the angle between the normal vector and the brush movement direction.

[0025] Preferably, the S3 specifically includes:

[0026] In the implementation process of the dynamic brush rotation speed calculation algorithm, based on the local curvature and the force applied by the brush, introduce the rotation speed adjustment constant, the influence coefficient of the local curvature, and the coupling enhancement factor to dynamically adjust the brush rotation speed.

[0027] Preferably, the S3 specifically includes:

[0028] The calculation formula for the brush rotation speed is:

[0029]

[0030] Among them, w i (t) represents the brush rotation speed at the i-th point at time t; β represents the rotation speed adjustment constant; F i (t) represents the force applied by the brush at the i-th point at time t; λ represents the influence coefficient of the local curvature; κ i (t) represents the degree of bending of the surface of the flexible liquid crystal panel at the i-th point at time t, that is, the local curvature; represents the coupling enhancement factor; ΔFi (t) represents the difference between the force exerted by the brush at the current point at the current moment and the force exerted by the brush at the previous point at the previous moment; ρ represents the response sensitivity; κ i (t) - κ 0 represents the difference between the bending degree of the surface of the flexible liquid crystal panel at the i-th point at time t and the curvature threshold; κ 0 represents the curvature threshold; represents the exponential decay function.

[0031] Preferably, the S4 specifically includes:

[0032] The vacuum suction force optimization algorithm calculates the vacuum suction force based on the brush rotation speed and the force exerted by the brush during the polishing and cleaning of the brush, in combination with the flow field dynamic adjustment factor. The specific formula is:

[0033]

[0034] Among them, V i (t) represents the vacuum suction force at the i-th point at time t; a i represents the adjustment coefficient of the vacuum suction device; F i (t) represents the force exerted by the brush at the i-th point at time t; w i (t) represents the brush rotation speed at the i-th point at time t; represents the flow field dynamic adjustment factor; δ represents the flow field adjustment coefficient; tanh represents the hyperbolic tangent function; represents the change rate of the brush rotation speed of the i-th point with time; The change rate of the force exerted by the brush of the i-th point with time.

[0035] A 3D edge polishing and cleaning brush system for a flexible liquid crystal panel includes the following parts:

[0036] Data acquisition module, feature extraction module, brush force calculation module, brush rotation speed calculation module, vacuum suction force calculation module;

[0037] Data acquisition module: Acquires the surface data of the flexible liquid crystal panel and outputs the surface data of the flexible liquid crystal panel to the feature extraction module and the brush force calculation module;

[0038] Feature extraction module: Based on the surface data of the flexible liquid crystal panel of the data acquisition module, extracts geometric features and outputs the geometric features to the brush force calculation module and the brush rotation speed calculation module;

[0039] Brush application force calculation module: Based on the surface data of the flexible liquid crystal panel from the data acquisition module and the geometric features from the feature extraction module, it calculates the brush application force using the dynamic polishing force adjustment algorithm and outputs the brush application force to the brush rotation speed calculation module and the vacuum suction force calculation module;

[0040] Brush rotation speed calculation module: Based on the geometric features from the feature extraction module and the brush application force from the brush application force calculation module, it calculates the brush rotation speed using the dynamic brush rotation speed calculation algorithm and outputs the brush rotation speed to the vacuum suction force calculation module;

[0041] Vacuum suction force calculation module: Based on the brush rotation speed from the brush rotation speed calculation module and the brush application force from the brush application force calculation module, it dynamically adjusts the vacuum suction force using the vacuum suction force optimization algorithm.

[0042] The beneficial effects of the technical solution of the present invention are:

[0043] 1. By using sensors (such as laser scanners) to obtain the surface data of the flexible liquid crystal panel in real time, it can accurately restore the true shape of the surface of the flexible liquid crystal panel, ensuring full consideration of the surface details of the flexible liquid crystal panel in subsequent operations.

[0044] 2. Based on the obtained surface data of the flexible liquid crystal panel, geometric features are further extracted, especially local curvature and normal vector. The local curvature reflects the degree of bending of the surface of the flexible liquid crystal panel, while the normal vector describes the direction of each point on the surface of the flexible liquid crystal panel. Combining the local curvature and the normal vector helps to understand the morphological characteristics of the flexible liquid crystal panel, provides a quantitative analysis of the surface geometry of the flexible liquid crystal panel, can provide important references for the adjustment of the brush application force and the calculation of the brush rotation speed, and through the calculation of the local curvature and the normal vector, dynamic adjustments can be made for different surface characteristics to avoid damage to the flexible liquid crystal panel.

[0045] 3. Based on the surface data and geometric features of the flexible liquid crystal panel, the dynamic polishing force adjustment algorithm is used to calculate the brush application force and dynamically adjust the brush application force, ensuring the adaptability of the polishing and cleaning brush process in different local curvature regions, avoiding damage to the surface of the flexible liquid crystal panel caused by excessive brush application force, optimizing the polishing effect by real-time adjusting the magnitude and direction of the brush application force, and ensuring the fineness and smoothness of the surface of the flexible liquid crystal panel.

[0046] 4. Based on the local curvature and the force applied by the brush, a dynamic brush rotation speed calculation algorithm is used to determine the rotation speed of the brush, achieving dynamic adjustment of the brush rotation speed. This ensures a uniform polishing effect even in the case of complex curvature changes. When the rotation speed of the brush in the high-curvature area increases, the rotation speed of the brush in the low-curvature area decreases, guaranteeing that the polishing effect does not deviate due to curvature changes. By adjusting the brush rotation speed according to the bending degree of the surface of different flexible liquid crystal panels, it can flexibly respond to the morphological changes of flexible liquid crystal panels.

[0047] 5. The use of a vacuum suction force optimization algorithm can optimize the relationship between the vacuum suction force, the brush rotation speed, and the applied force, ensuring the best particle and dirt removal effect during the polishing and cleaning process on the surface of the flexible liquid crystal panel. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 FIG. is a structural diagram of a 3D edge polishing and cleaning brush system for a flexible liquid crystal panel according to the present invention;

[0049] Figure 2 FIG. is a flowchart of a method for 3D edge polishing and cleaning of a flexible liquid crystal panel according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0050] In order to further elaborate on the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs.

[0052] The following specifically describes the specific solutions of a 3D edge polishing and cleaning brush system and method for a flexible liquid crystal panel provided by the present invention in conjunction with the accompanying drawings.

[0053] Referring to the attached Figure 1 , which shows a structural diagram of a 3D edge polishing and cleaning brush system for a flexible liquid crystal panel provided by an embodiment of the present invention. The system includes the following parts:

[0054] A data acquisition module, a feature extraction module, a brush application force calculation module, a brush rotation speed calculation module, and a vacuum suction force calculation module;

[0055] Data acquisition module: It acquires accurate surface data of the flexible liquid crystal panel in real time through sensors, and outputs the surface data of the flexible liquid crystal panel to the feature extraction module and the brush application force calculation module;

[0056] Feature extraction module: Based on the surface data of the flexible liquid crystal panel from the data acquisition module, it extracts geometric features such as local curvature and normal vector, and outputs the geometric features to the brush application force calculation module and the brush rotation speed calculation module;

[0057] Brush application force calculation module: Based on the surface data of the flexible liquid crystal panel from the data acquisition module and the geometric features from the feature extraction module, it calculates the brush application force using the dynamic polishing force adjustment algorithm, and outputs the brush application force to the brush rotation speed calculation module and the vacuum suction force calculation module;

[0058] Brush rotation speed calculation module: Based on the geometric features from the feature extraction module and the brush application force from the brush application force calculation module, it calculates the brush rotation speed using the dynamic brush rotation speed calculation algorithm, and outputs the brush rotation speed to the vacuum suction force calculation module;

[0059] Vacuum suction force calculation module: Based on the brush rotation speed from the brush rotation speed calculation module and the brush application force from the brush application force calculation module, it dynamically adjusts the vacuum suction force using the vacuum suction force optimization algorithm to remove surface dirt and particles.

[0060] Refer to the appendix Figure 2 , which shows a flowchart of a 3D edge polishing and cleaning brush method for a flexible liquid crystal panel provided by an embodiment of the present invention. The method includes the following steps:

[0061] S1. Acquire the surface data of the flexible liquid crystal panel to obtain the three-dimensional surface data set of the flexible liquid crystal panel; extract geometric features based on the surface data of the flexible liquid crystal panel. The geometric features include: local curvature and normal vector;

[0062] During the 3D edge polishing and cleaning of the flexible liquid crystal panel, an integrated device is adopted. The integrated device combines a rotating polishing brush and a vacuum suction device. The polishing brush is responsible for polishing the 3D edge of the flexible liquid crystal panel, while the vacuum suction device is used to remove particles and dirt generated during the polishing and cleaning brush process in real time;

[0063] Accurately acquire the surface data of the flexible liquid crystal panel in real time through sensors (such as laser scanners) and perform normalization processing to obtain the three-dimensional surface data set of the flexible liquid crystal panel x i (t), y i (t), z i (t) represents the three-dimensional coordinates of the i-th point at time t, represents the total number of points;

[0064] The normalization method is to obtain the accurate surface data of the flexible liquid crystal panel in real time, determine the three-dimensional coordinate data of all points, then find the minimum and maximum values of the abscissa, ordinate and height value respectively, and then adjust each coordinate value to between 0 and 1 by subtracting the minimum value and dividing by the range. The final surface data of the flexible liquid crystal panel is dimensionless, ensuring the comparability and consistency of the surface data of the flexible liquid crystal panel. The formula is as follows:

[0065]

[0066] Among them, and represents the three-dimensional surface data of the original flexible liquid crystal panel; x max (t), y max (t) and z max (t) represent the maximum values of the abscissa, ordinate and height value; x min (t), y min (t) and z min (t) represent the minimum values of the abscissa, ordinate and height value;

[0067] Extract geometric features based on the surface data of the flexible liquid crystal panel. The geometric features include: local curvature and normal vector;

[0068] The calculation of the local curvature is based on the height value of the flexible liquid crystal panel surface at each point, and the second-order derivatives of the height value with respect to the x direction and the y direction need to be calculated, which is used to describe the bending degree of the flexible liquid crystal panel surface. The area with a higher local curvature means that the surface of the flexible liquid crystal panel is steeper, while the area with a lower local curvature indicates that the surface of the flexible liquid crystal panel is flatter;

[0069] The calculation formula of the local curvature is:

[0070]

[0071] Among them, κ i (t) represents the bending degree of the flexible liquid crystal panel surface at the i-th point at time t, that is, the local curvature; z i (t) represents the height value of the i-th point at time t; represents the second-order derivative of the height value of the i-th point in the x direction, reflecting the curvature change rate of the flexible liquid crystal panel surface in the x direction; represents the second-order derivative of the height value of the i-th point in the y direction, reflecting the curvature change rate of the flexible liquid crystal panel surface in the y direction;

[0072] The normal vector is a vector that describes the surface orientation of the flexible liquid crystal panel and consists of three components: the derivative values of the height value with respect to the x-direction and the y-direction, and a constant -1. The constant -1 represents the third component of the normal vector, i.e., the normal direction. The normal vector can provide accurate surface orientation information of the flexible liquid crystal panel for subsequent polishing and cleaning brush processes;

[0073] The calculation formula for the normal vector is:

[0074]

[0075] where n i (t) represents the normal vector of the i-th point at time t and is used to represent the surface orientation of the flexible liquid crystal panel; represents the first-order derivative of the height value of the i-th point in the x-direction, reflecting the local slope of the flexible liquid crystal panel surface in the x-direction; represents the first-order derivative of the height value of the i-th point in the y-direction, reflecting the local slope of the flexible liquid crystal panel surface in the y-direction; -1 represents the direction of the normal vector in the z-direction;

[0076] S2. Based on the surface data and geometric features of the flexible liquid crystal panel, use the dynamic polishing force adjustment algorithm to calculate the force applied by the brush;

[0077] Based on the surface data and geometric features of the flexible liquid crystal panel, such as local curvature and normal vector, use the dynamic polishing force adjustment algorithm to calculate the force applied by the brush;

[0078] During the polishing and cleaning brush process of the flexible liquid crystal panel, the contact force between the brush and the surface of the flexible liquid crystal panel must be dynamically adjusted according to the surface characteristics of the flexible liquid crystal panel. To effectively control the force applied by the brush during the polishing and cleaning brush process, based on the surface data and geometric features of the flexible liquid crystal panel, such as local curvature and normal vector, use the dynamic polishing force adjustment algorithm to calculate the force applied by the brush to adapt to different surface characteristics and changes of the flexible liquid crystal panel, and adjust the force applied by the brush in real time to improve the polishing effect while avoiding damage to the surface of the flexible liquid crystal panel;

[0079] For each point, the difference between the height value of the current point and the target height directly affects the magnitude of the force applied by the brush. The greater the height difference, the greater the force applied by the brush; it also needs to be adjusted according to the local curvature of the point where it is located. The local curvature represents the degree of bending of the flexible liquid crystal panel surface and affects the distribution of the force applied by the brush;

[0080] The angle between the brush and the flexible liquid crystal panel also affects the directionality of the force exerted by the brush. It is necessary to calculate the angle between the normal vector and the movement direction of the brush. Specifically, it can be achieved through the cross product of the normal vector at the point and the vector of the brush movement direction. By calculating the cosine value of the angle, the effective direction of the force exerted by the brush can be obtained, thus ensuring that the force exerted by the brush conforms to the expected trajectory;

[0081] Furthermore, a dynamic elastic adjustment factor is introduced. As time changes, the elastic component of the force exerted by the brush is adjusted dynamically. The amplitude adjustment parameter determines the intensity of the elastic adjustment, while the vibration frequency determines the periodic change of the elastic adjustment, which can simulate the interaction between the brush and the surface of the flexible liquid crystal panel and ensure that the force exerted by the brush adapts to the flexible characteristics of the surface of the flexible liquid crystal panel;

[0082] The calculation formula for the force exerted by the brush is:

[0083]

[0084] Among them, F i (t) represents the force exerted by the brush at the i-th point at time t; κ i (t) represents the degree of bending of the surface of the flexible liquid crystal panel at the i-th point at time t, that is, the local curvature; represents the difference between the height value at the i-th point at time t and the target height, z 0Denote the target height, with a value range of 0 to 0.5 mm. For the edge polishing of the flexible liquid crystal panel, the surface flatness needs to be controlled at the micron level. The target height is set according to the design specifications, generally not exceeding 0.5 mm, to ensure polishing accuracy and edge consistency, and a normalization process is carried out to ensure dimensionless. It can be specifically set according to the specific implementation scenario and is not limited here; α·sin(ωt) represents the dynamic elastic adjustment factor, which is used to dynamically adjust the elastic component of the force applied by the brush to adapt to the flexible characteristics of the surface of the flexible liquid crystal panel; α represents the amplitude adjustment parameter, which is used to control the intensity of the elastic adjustment and determine the strength of the contact between the brush and the flexible liquid crystal panel. It needs to be matched with the brush rigidity and the panel flexibility. When the flexible liquid crystal panel has a low hardness, excessive force application is likely to cause damage. The value range is set based on experimental data and material characteristics, and a normalization process is carried out to ensure dimensionless. It can be specifically set according to the specific implementation scenario and is not limited here; sin represents the sine function, which is used to simulate the periodic characteristics of the force applied by the brush changing with time; ω represents the vibration frequency, which determines the frequency of the elastic adjustment and is used to control the rate of change of the force applied by the brush over time. A low frequency (<10 rad / s) cannot effectively adapt to surface changes, and a high frequency (>100 rad / s) may cause excessive vibration of the device, affecting stability. The value range is: 10 to 100 rad / s, and a normalization process is carried out to ensure dimensionless. It can be specifically set according to the specific implementation scenario and is not limited here,; θ i (t) represents the angle between the normal vector of the i-th point at time t and the movement direction of the brush; cos(θ i (t)) represents the cosine value of the angle between the normal vector and the movement direction of the brush, which is used to adjust the directionality of the force applied by the brush to ensure that the distribution of the force applied by the brush matches the movement direction of the brush. The calculation formula is:

[0085]

[0086] Among them, n i (t) represents the normal vector of the i-th point at time t, which is used to represent the orientation of the surface of the flexible liquid crystal panel; u(t) represents the movement direction of the brush at time t; n i (t)·u(t) represents the dot product between the normal vector and the movement direction of the brush, which determines the directional relationship between the movement direction of the brush and the normal vector of the surface of the flexible liquid crystal panel, and further affects the distribution direction of the force applied by the brush; ∥n i (t)∥ represents the modulus of the normal vector, which is used to standardize the normal vector to ensure that only the directionality is considered in the calculation and not affected by the magnitude of the normal vector; ∥u(t)∥ represents the modulus of the movement direction of the brush, which is used to standardize the movement direction of the brush to ensure that the calculation result is not interfered by the brush movement factor;

[0087] S3. Based on the local curvature and the force applied by the brush, use the dynamic brush rotation speed calculation algorithm to calculate the brush rotation speed;

[0088] To precisely control the brush rotation speed during the polishing and cleaning of the brush, based on the local curvature and the force applied by the brush, a dynamic brush rotation speed calculation algorithm is used to calculate the brush rotation speed to optimize the polishing effect;

[0089] The calculation of the brush rotation speed is based on the relationship between the force applied by the brush and the brush rotation speed. The greater the force applied by the brush, the higher the brush rotation speed will be accordingly. However, an excessive force applied by the brush may also cause excessive wear or damage to the surface. It is necessary to control the magnitude of the force applied by the brush, and a rotation speed adjustment constant is further introduced to control the ratio between the force applied by the brush and the brush rotation speed;

[0090] The local curvature is another important factor affecting the brush rotation speed. By introducing the influence coefficient of the local curvature, it is used to dynamically adjust the brush rotation speed to adapt to different local curvature regions. Specifically, when the local curvature is extremely high, the brush rotation speed needs to be increased to ensure the polishing effect;

[0091] To further improve the precision of the polishing and cleaning brush process, a coupling enhancement factor is introduced, which comprehensively considers the combined influence of the changes in the force applied by the brush and the local curvature on the brush rotation speed. The coupling enhancement factor is calculated based on the difference in the force applied by the brush and the relationship between the local curvature and the curvature threshold, thereby adjusting the response speed of the brush rotation speed in different local curvature regions;

[0092] The calculation formula for the brush rotation speed is:

[0093]

[0094] where w i (t) represents the brush rotation speed at the i-th point at time t; β represents the rotation speed adjustment constant, which is used to control the proportional relationship between the force applied by the brush and the brush rotation speed, and needs to be matched with the brush motor power (commonly 0.1 - 1 kW) and the force application range (0.1 - 10 N) to ensure that the rotation speed is within the range of 100 - 1000 rpm (about 10 - 100 rad / s). The value range is: 0.5 - 5 rad / (N·s), and it is normalized to ensure dimensionless, and can be specifically set according to the specific implementation scenario, and is not limited here; F i (t) represents the force applied by the brush at the i-th point at time t; λ represents the influence coefficient of the local curvature, which determines the sensitivity of the adjustment of the brush rotation speed to the change in the local curvature, and needs to be matched with the panel curvature range (0.01 - 1 mm -1 ) and is normalized to ensure dimensionless, and can be specifically set according to the specific implementation scenario, and is not limited here; κ i (t) represents the degree of bending of the surface of the flexible liquid crystal panel at the i-th point at time t, that is, the local curvature; represents the coupling enhancement factor, reflecting the comprehensive influence of the change in the force applied by the brush and the change in local curvature on the rotational speed of the brush; ΔF i (t) represents the difference between the force applied by the brush at the current point and the current moment and the force applied by the brush at the previous point and the previous moment, reflecting the change in the force applied by the brush, and thus affecting the adjustment of the rotational speed of the brush; ρ represents the response sensitivity, which determines the sensitivity of the change in local curvature to the adjustment of the rotational speed of the brush, and thus affects the adaptability of the process of the polishing and cleaning brush in different local curvature regions. It is necessary to ensure that when the curvature changes from 0.1 to 1 mm -1 , the rotational speed adjustment is smooth and effective, and the value range is: 1 to 10 mm -1 , and normalization processing is performed to ensure dimensionless. It can be specifically set according to the specific implementation scenario and is not limited here; κ i (t) - κ 0 represents the difference between the surface bending degree of the flexible liquid crystal panel at the i-th point at time t and the curvature threshold; κ 0 represents the curvature threshold, which is used to adjust the rotational speed of the brush in the region where the surface curvature of the flexible liquid crystal panel changes greatly. The edge curvature of the flexible liquid crystal panel is usually in the range of slightly curved to moderately curved, and the value range is: 0.05 to 0.5 mm -1 , and normalization processing is performed to ensure dimensionless. It can be specifically set according to the specific implementation scenario and is not limited here; represents the exponential decay function, which ensures that when the curvature difference is extremely small, the exponential decay function will not have a significant impact, so that the rotational speed of the brush can quickly respond to the change in local curvature. When the curvature difference is extremely large, the value of the exponential decay function tends to zero, suppressing the reaction of the rotational speed of the brush to the curvature change and avoiding over-adjustment, thus maintaining stability;

[0095] S4. Based on the rotational speed of the brush and the force applied by the brush, use the vacuum suction force optimization algorithm to dynamically adjust the vacuum suction force;

[0096] In order to achieve precise adjustment of the vacuum suction force during the 3D edge polishing and cleaning process of the flexible liquid crystal panel, improve the removal efficiency of particles and dirt, and maintain the fineness of the polished surface at the same time, according to the rotational speed of the brush and the force applied by the brush, use the vacuum suction force optimization algorithm to dynamically adjust the vacuum suction force, so as to remove surface dirt and particles;

[0097] The vacuum suction force optimization algorithm is based on the rotational speed of the brush and the force applied by the brush during the process of the polishing and cleaning brush, and combines the flow field dynamic adjustment factor to ensure the best balance between the cleaning effect and the polishing accuracy;

[0098] The calculation of the flow field dynamic adjustment factor involves a comprehensive analysis of the change rate of the brush rotation speed and the change rate of the force applied by the brush. Specifically, calculate the change rate of the brush rotation speed over time and the change rate of the force applied by the brush over time. The flow field dynamic adjustment factor is calculated through a non-linear function (such as the hyperbolic tangent function), taking into account the influence of the changes in the brush rotation speed and the force applied by the brush on the air flow cleaning effect, and can dynamically adjust the vacuum suction force to adapt to different polishing environments and panel shapes;

[0099] The calculation formula for the vacuum suction force is:

[0100]

[0101] where, V i (t) represents the vacuum suction force at the i-th point at time t; a i represents the adjustment coefficient of the vacuum suction device, which is used to adjust the relationship between the vacuum suction force and the force applied by the brush and the rotation speed, and determines the sensitivity of the vacuum suction force response. a i maps the applied force (0.1 - 10 N) and the rotation speed (10 - 100 rad / s) to the vacuum pressure (100 - 1000 Pa), which conforms to the capabilities of the industrial vacuum system and is normalized to ensure dimensionless. It can be specifically set according to the specific implementation scenario and is not limited here; F i (t) represents the force applied by the brush at the i-th point at time t; w i (t) represents the brush rotation speed at the i-th point at time t; represents the flow field dynamic adjustment factor, which is a suction factor adjusted based on the change rates of the brush rotation speed and the force applied by the brush; δ represents the flow field adjustment coefficient, which is used to control the intensity of the flow field dynamic adjustment factor. It is necessary to ensure that the suction change does not exceed 50% of the base value to avoid excessive fluctuations. The value range is: 0.1 - 0.5, and it can be specifically set according to the specific implementation scenario and is not limited here; tanh represents the hyperbolic tangent function, which is used to smooth the product of the change rates of the brush rotation speed and the force applied by the brush, ensuring that the change of the flow field dynamic adjustment factor will not be too drastic, thereby avoiding over-response; represents the change rate of the brush rotation speed of the i-th point over time; The change rate of the force applied by the brush of the i-th point over time;

[0102] Through precise adjustment of the vacuum suction force, the automation and intelligent level of the flexible liquid crystal panel polishing and cleaning process have been significantly improved, ensuring the dual optimization of production efficiency and product quality.

[0103] In summary, a 3D edge polishing and cleaning brush system and method for flexible liquid crystal panels have been completed.

[0104] The sequence of the invention embodiments is only for description and does not represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0105] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. The key point of each embodiment is to illustrate the differences from other embodiments.

[0106] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A flexible liquid crystal panel 3D edge polishing cleaning brush method, characterized in that: The following steps are involved: S1: Acquire surface data of the flexible liquid crystal panel to obtain a three-dimensional surface data set of the flexible liquid crystal panel; Extract geometric features based on the surface data of the flexible liquid crystal panel, the geometric features include: local curvature and normal vector; S2: Based on the surface data and geometric features of the flexible LCD panel, the brush force is calculated using a dynamic polishing force adjustment algorithm; S3: Based on the local curvature and the brush force, the brush speed is calculated using a dynamic brush speed calculation algorithm; S4: Based on the brush speed and brush force, the vacuum suction force optimization algorithm is used to dynamically adjust the vacuum suction force.

2. A flexible liquid crystal panel 3D edge polishing cleaning brush method according to claim 1, characterized in that: The S1 specifically includes: The calculation of the local curvature is based on the height value of the surface of the flexible liquid crystal panel at each point, and the second-order derivative of the height value relative to the x and y directions is calculated. The specific formula is: Among them, κ i (t) represents the curvature of the flexible liquid crystal panel surface at the i-th point at time t, i.e., the local curvature; z i (t) represents the height value of the i-th point at time t; Represents the second-order derivative of the height value of the i-th point in the x direction; Represents the second-order derivative of the height value of the i-th point in the y direction.

3. A flexible liquid crystal panel 3D edge polishing cleaning brush method according to claim 1, characterized in that: The S1 specifically includes: The normal vector is a vector describing the orientation of the surface of the flexible liquid crystal panel, and is composed of three components. The specific formula is: Among them, n i (t) represents the normal vector of the i-th point at time t; Represents the first-order derivative of the height value of the i-th point in the x direction; Represents the first-order derivative of the height value of the i-th point in the y direction; -1 represents the direction of the normal vector in the z direction.

4. A flexible liquid crystal panel 3D edge polishing cleaning brush method according to claim 1, characterized in that: The S2 specifically includes: In the implementation process of the dynamic polishing force adjustment algorithm, for each point, the difference between the height value of the current point and the target height is calculated. The greater the height difference, the greater the force applied by the brush; and based on the local curvature, the force applied by the brush is adjusted.

5. A flexible liquid crystal panel 3D edge polishing cleaning brush method according to claim 4, characterized in that: The S2 specifically includes: In the process of implementing the dynamic polishing force adjustment algorithm, the angle between the normal vector and the brush movement direction is calculated, and the brush force is obtained by combining the dynamic elasticity adjustment factor, the amplitude adjustment parameter and the vibration frequency. The specific formula is: Among them, F i (t) represents the brush force applied at the i-th point at time t; κ i (t) represents the curvature of the flexible liquid crystal panel surface at the i-th point at time t, i.e., the local curvature; represents the difference between the height value of the i-th point at time t and the target height; α·sin(ωt) represents the dynamic elasticity adjustment factor; α represents the amplitude adjustment parameter; sin represents the sine function; ω represents the vibration frequency; θ i (t) represents the angle between the normal vector of the i-th point at time t and the direction of brush movement; cos(θ i (t)) represents the cosine of the angle between the normal vector and the direction of brush movement.

6. A flexible liquid crystal panel 3D edge polishing cleaning brush method according to claim 1, characterized in that: The S3 specifically includes: In the process of implementing the dynamic brush speed calculation algorithm, based on the local curvature and the brush force, the speed adjustment constant, the influence coefficient of the local curvature and the coupling enhancement factor are introduced to dynamically adjust the brush speed.

7. A flexible liquid crystal panel 3D edge polishing cleaning brush method according to claim 6, characterized in that: The S3 specifically includes: The calculation formula of brush speed is: Among them, w i (t) represents the brush speed at the i-th point at time t; β represents the speed adjustment constant; F i (t) represents the brush force applied by the i-th point at time t; λ represents the influence coefficient of local curvature; κ i (t) represents the curvature of the flexible liquid crystal panel surface at the i-th point at time t, i.e., the local curvature; Denotes the coupling enhancement factor; ΔF i (t) represents the difference between the brush force applied by the current point at the current moment and the brush force applied by the previous point at the previous moment; ρ represents the response sensitivity; κ i (t)-κ0 represents the difference between the curvature degree of the flexible liquid crystal panel surface at the i-th point at time t and the curvature threshold; κ0 represents the curvature threshold; represents an exponential decay function.

8. A flexible liquid crystal panel 3D edge polishing cleaning brush method according to claim 1, characterized in that: The S4 specifically includes: The vacuum suction force optimization algorithm is based on the brush speed and brush force applied during the polishing and cleaning process, combined with the flow field dynamic adjustment factor, to calculate the vacuum suction force. The specific formula is: Among them, V i (t) represents the vacuum suction force of the i-th point at time t; a i Indicates the adjustment coefficient of the vacuum suction device; F i (t) represents the brush force applied at the i-th point at time t; w i (t) represents the brush speed of the i-th point at time t; represents the dynamic adjustment factor of the flow field; δ represents the flow field adjustment coefficient; tanh represents the hyperbolic tangent function; represents the rate of change of the brush speed at the i-th point over time; The rate of change of the brush force at the i-th point over time.

9. A flexible liquid crystal panel 3D edge polishing cleaning brush system, applied to a flexible liquid crystal panel 3D edge polishing cleaning brush method according to claim 1, characterized in that: Includes the following sections: Data acquisition module, feature extraction module, brush force calculation module, brush speed calculation module, vacuum suction force calculation module; Data acquisition module: acquires the surface data of the flexible liquid crystal panel, and outputs the surface data of the flexible liquid crystal panel to the feature extraction module and the brush force calculation module; Feature extraction module: extracts geometric features based on the surface data of the flexible liquid crystal panel from the data acquisition module, and outputs the geometric features to the brush force calculation module and the brush speed calculation module; Brush force calculation module: Based on the flexible liquid crystal panel surface data of the data acquisition module and the geometric features of the feature extraction module, the brush force is calculated using a dynamic polishing force adjustment algorithm, and the brush force is output to the brush speed calculation module and the vacuum suction force calculation module; Brush speed calculation module: Based on the geometric features of the feature extraction module and the brush force of the brush force calculation module, the brush speed is calculated using a dynamic brush speed calculation algorithm, and the brush speed is output to the vacuum suction force calculation module; Vacuum suction force calculation module: Based on the brush speed of the brush speed calculation module and the brush force of the brush force calculation module, the vacuum suction force optimization algorithm is used to dynamically adjust the vacuum suction force.

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