Glass conveying and positioning control method, device and equipment and storage medium

Abstract

The invention provides a glass conveying and positioning control method, device and equipment and a storage medium, and relates to the technical field of glass processing. The method comprises the steps that when glass reaches a designated position on a conveying belt, a front end positioning device arranged on one side of the tail end of the conveying belt is controlled to stretch out; wherein the front-end positioning device is positioned between a specified position and the tail end of the conveyor belt; the moving distance of the glass on the conveying belt is obtained, and when a preset condition is met, the conveying belt is controlled to stop running; wherein the glass is not in contact with the rear-end positioning device under the preset condition; and controlling the rear-end positioning device to extend out, pushing the glass towards the front-end positioning device after a first preset time, and fixing the glass through the front-end positioning device and the rear-end positioning device. According to the rear positioning device, the rear positioning device cannot abut against the glass when fixing the glass.

Description

Technical Field

[0001] The present invention relates to the technical field of glass processing, and particularly to a glass conveying and positioning control method, device, equipment and storage medium. Background Art

[0002] In the existing glass conveying and positioning device, there is positive pressure on the surface of the conveyor belt. When the glass enters the conveyor belt, the conveyor belt runs at a constant speed. The front positioning device extends. When the end sensor detects the glass, the conveyor belt stops running. The rear positioning cylinder extends first, and then the associated cylinder pushes forward along the glass conveying direction to position the glass between the cylinders.

[0003] Due to reasons such as glass reflection and sensor failure, the detection by the end sensor may be incorrect, resulting in misoperation of the rear positioning cylinder. When the glass does not stop in place, the rear positioning cylinder hits the back of the glass, damaging the glass. Therefore, there is an urgent need for a glass conveying and positioning method that can avoid the rear positioning device from hitting the glass. Summary of the Invention

[0004] Embodiments of the present invention provide a glass conveying and positioning control method, device, equipment and storage medium to solve the problem that the rear positioning device hits the glass.

[0005] In a first aspect, embodiments of the present invention provide a glass conveying and positioning control method, including:

[0006] When the glass reaches a specified position on the conveyor belt, control the front positioning device arranged on one side of the end of the conveyor belt to extend; wherein, the front positioning device is located between the specified position and the end of the conveyor belt;

[0007] Obtain the distance that the glass moves on the conveyor belt, and when a preset condition is reached, control the conveyor belt to stop running; wherein, the preset condition enables the glass not to contact the rear positioning device;

[0008] Control the rear positioning device to extend, and after a first preset time, push the glass in the direction of the front positioning device to fix the glass through the front positioning device and the rear positioning device.

[0009] In a possible implementation manner, the specified position is the third preset position. When the glass reaches the specified position on the conveyor belt, controlling the front positioning device arranged on one side of the end of the conveyor belt to extend includes:

[0010] Detect the position of the glass on the conveyor belt. When the glass reaches the first preset position, control the conveyor belt to run at a first preset speed;

[0011] When the glass reaches the second preset position, start recording the distance that the glass moves on the conveyor belt;

[0012] When the glass reaches the third preset position, control the conveyor belt to run at the second preset speed, and after the second preset time, control the front-end positioning device to extend; wherein, the first preset speed is greater than the second preset speed.

[0013] In a possible implementation, the first preset position is at the end sensor of the upstream conveyor belt; the second preset position is at the inlet sensor of the downstream conveyor belt; the third preset position is at the end sensor of the downstream conveyor belt; the front-end positioning device includes a first cylinder.

[0014] In a possible implementation, the preset conditions include:

[0015] The distance that the glass moves on the downstream conveyor belt is equal to the preset distance; wherein, the preset distance is determined according to the size of the glass, the speed of the conveyor belt, and the accuracy of the sensor.

[0016] In a possible implementation, the preset distance is positively correlated with the size of the glass; the preset distance is positively correlated with the speed of the conveyor belt; the preset distance is inversely correlated with the accuracy of the sensor.

[0017] In a possible implementation, the rear-end positioning device includes a second cylinder and a third cylinder, and the piston rod of the second cylinder is connected to the cylinder block of the third cylinder;

[0018] Controlling the rear-end positioning device to extend, and after the first preset time, pushing the glass in the direction of the front-end positioning device, and fixing the glass through the front-end positioning device and the rear-end positioning device, includes:

[0019] Controlling the piston rod of the second cylinder to extend, and after the first preset time, controlling the piston rod of the third cylinder to extend, and pushing the glass in the direction of the first cylinder through the piston rod of the third cylinder, and fixing the glass through the first cylinder and the third cylinder.

[0020] In a possible implementation, the thrust of the piston rod of the third cylinder pushing the glass is adjusted according to the warpage of the glass.

[0021] In a second aspect, an embodiment of the present invention provides a glass conveying and positioning control device, including:

[0022] A front-end positioning device control module, configured to control the front-end positioning device to extend when the glass reaches a specified position on the conveyor belt; wherein, the specified position is close to the end of the conveyor belt;

[0023] A conveyor belt control module, configured to obtain the distance that the glass moves on the conveyor belt, and when a preset condition is met, control the conveyor belt to stop running; wherein, the preset condition enables the glass not to contact the rear-end positioning device;

[0024] A glass fixing module is used to control the extension of the rear-end positioning device, and after a first preset time, push the glass in the direction of the front-end positioning device, and fix the glass through the front-end positioning device and the rear-end positioning device.

[0025] In a third aspect, an embodiment of the present invention provides an electronic device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the method in the first aspect or any possible implementation manner of the first aspect above is implemented.

[0026] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the method in the first aspect or any possible implementation manner of the first aspect above is implemented.

[0027] In the embodiment of the present invention, when the glass reaches a specified position on the conveyor belt, the front-end positioning device is extended. The front-end positioning device is located between the specified position and the end of the conveyor belt. By detecting the position of the glass, it is ensured that the glass reaches the end of the conveyor belt. The distance that the glass moves on the conveyor belt is obtained. When the moving distance reaches a preset condition, the conveyor belt is controlled to stop running. The preset condition is that the glass does not contact the rear-end positioning device. The time when the conveyor belt stops running is determined by monitoring the position of the glass on the conveyor belt and the distance that the glass moves on the conveyor belt. After the conveyor belt stops running, the rear-end positioning device is extended, and then the position of the glass is fixed. By detecting that the position where the glass reaches the end of the conveyor belt and the moving distance of the glass meet the preset conditions, these two factors are comprehensively used to judge the time when the conveyor belt stops running, avoiding controlling the rear-end positioning device only by detecting the single factor of the glass position, ensuring that the rear-end positioning device does not contact the glass, and thus ensuring that the rear-end positioning device does not bump against the back of the glass. Description of the Drawings

[0028] Figure 1 is a flowchart of the implementation of the glass conveying and positioning control method provided by the embodiment of the present invention;

[0029] Figure 2 is a schematic structural diagram of the glass conveying and positioning control device provided by the embodiment of the present invention;

[0030] Figure 3 is a schematic diagram of the electronic device provided by the embodiment of the present invention. Detailed Embodiments

[0031] Next, the embodiments of the present invention will be described in detail with reference to the drawings.

[0032] Figure 1 is a flowchart of the implementation of the glass conveying and positioning control method provided by the embodiment of the present invention. As Figure 1 shown.

[0033] Step 101: When the glass reaches the specified position on the conveyor belt, control the front-end positioning device arranged on one side of the end of the conveyor belt to extend; wherein, the front-end positioning device is located between the specified position and the end of the conveyor belt.

[0034] In this embodiment, when the glass is sequentially conveyed on multiple conveyor belts, the glass first passes through the upstream conveyor belt and then enters the downstream conveyor belt. During this period, the position of the glass is detected by sensors (such as photoelectric sensors, etc.). When the glass reaches the specified position on the downstream conveyor belt, the system issues an instruction to make the front-end positioning device (usually a cylinder or other mechanical device) on the downstream conveyor belt extend. The function of the front-end positioning device is to provide a device for fixing or restricting the position of the glass to prevent the glass from continuing to move forward. By extending the front-end positioning device when the glass is at the specified position, before the glass reaches the end of the downstream conveyor belt, the front-end positioning device blocks the glass, which can avoid excessive movement of the glass on the conveyor belt and reduce the risk of scratching. The determined stop position enables the subsequent gripping device (such as a manipulator) to grip the glass more accurately, reducing gripping failures or delays caused by inaccurate positions, thereby improving the overall production efficiency.

[0035] Step 102: Obtain the distance that the glass moves on the conveyor belt, and when a preset condition is met, control the conveyor belt to stop running; wherein, the preset condition ensures that the glass does not contact the rear-end positioning device.

[0036] In this embodiment, the system will monitor and record the distance that the glass moves on the conveyor belt in real time, usually through sensors (such as encoders, photoelectric sensors, etc.). The sensors can detect the position change of the glass and transmit this information to the control system. The system will decide when to stop the conveyor belt according to the preset conditions, aiming to ensure that the glass will not collide with the rear-end positioning device (such as a cylinder or other fixed device) when it stops, avoiding damage or inaccurate position caused by the contact between the glass and the positioning device. By adjusting the preset conditions (such as the stop distance), the system can adapt to different sizes and types of glass, improving the versatility and flexibility of the system.

[0037] Step 103: Control the rear-end positioning device to extend, and after a first preset time, push the glass in the direction of the front-end positioning device to fix the glass through the front-end positioning device and the rear-end positioning device.

[0038] In this embodiment, the rear positioning device is a device located at the rear end in the glass conveying direction, usually including a cylinder or other mechanical components for fixing the glass. The first preset time (such as 1 second) is a preset time interval to ensure that the rear positioning device has enough time to extend and get ready. The rear positioning device will push the glass in the direction of the front positioning device to adjust the glass to the final fixed position. The front positioning device and the rear positioning device work together to fix the glass on the conveyor belt, ensuring its accurate position for subsequent processing or handling. In actual use, when the rear positioning device pushes the glass to the front positioning device, the glass will contact the front positioning device.

[0039] In an embodiment of the present invention, when the glass reaches a specified position on the conveyor belt, the front positioning device is extended. The front positioning device is located between the specified position and the end of the conveyor belt. By detecting the position of the glass, it is ensured that the glass reaches the end of the conveyor belt. The distance that the glass moves on the conveyor belt is obtained. When the moved distance reaches a preset condition, the conveyor belt is controlled to stop running. The preset condition is that the glass does not contact the rear positioning device. The time when the conveyor belt stops running is determined by monitoring the position of the glass on the conveyor belt and the distance that the glass moves on the conveyor belt. After the conveyor belt stops running, the rear positioning device is extended to fix the position of the glass. By detecting that the position where the glass reaches the end of the conveyor belt and the distance that the glass moves meet the preset conditions, these two factors are comprehensively used to judge the time when the conveyor belt stops running, avoiding controlling the rear positioning device only relying on the single factor of detecting the glass position, ensuring that the rear positioning device does not contact the glass, and thus ensuring that the rear positioning device does not bump against the back of the glass.

[0040] In the present invention, when the glass is at the end of the upstream conveyor belt, the downstream conveyor belt starts to run to convey the glass. When the glass reaches the position of the entrance sensor of the downstream conveyor belt (the entrance sensor is located at the entrance end of the downstream sensor), the distance that the glass moves on the downstream conveyor belt starts to be recorded. When the glass continues to move forward to the end sensor of this downstream conveyor belt, it indicates that the glass is about to leave this conveyor belt. At this time, the conveyor belt is decelerated and at the same time the front positioning device is extended to avoid excessive movement of the glass. When the distance that the glass moves on this conveyor belt reaches a preset distance, the conveyor belt is stopped, and then the rear positioning device is extended to push the glass to the front positioning device to fix the glass.

[0041] To more accurately control the speed change process, a first preset position, a second preset position, and a third preset position are sequentially set corresponding to the upstream conveyor belt and the downstream conveyor belt.

[0042] In a possible implementation, the specified position is the third preset position. When the glass reaches the specified position on the conveyor belt, the front positioning device provided on one side of the end of the conveyor belt is controlled to extend. The specific processing is as follows: Detect the position of the glass on the conveyor belt. When the glass reaches the first preset position, control the conveyor belt to run at the first preset speed; when the glass reaches the second preset position, start recording the distance the glass moves on the conveyor belt; when the glass reaches the third preset position, control the conveyor belt to run at the second preset speed, and after the second preset time, control the front positioning device to extend; wherein, the first preset speed is greater than the second preset speed.

[0043] In this embodiment, in the early stage of glass transportation, when the glass reaches the "first preset position", the conveyor belt runs at a relatively high speed (the first preset speed), which is relatively fast to quickly transport the glass to subsequent positions. When the glass continues to move and reaches the "second preset position", the system starts to record the distance the glass moves on the conveyor belt. This recording process is to prepare for accurately controlling the stop position of the glass subsequently. When the glass reaches the "third preset position", the speed of the conveyor belt will switch from the first preset speed to a slower speed (the second preset speed). This slower speed is to make the glass smoothly approach the final stop position, reduce the change in the position of the glass caused by the inertia of the conveyor belt and the glass, and make the position of the glass more accurate. After the glass runs at the second preset speed for a period of time (the second preset time, such as 2 seconds), the front positioning device (such as a cylinder) will extend to fix the position of the glass.

[0044] Specifically, by setting multiple preset positions and corresponding speed controls, the movement process of the glass on the conveyor belt can be accurately controlled. This staged speed control ensures that the glass can smoothly approach the final stop position, avoiding inaccurate glass position or damage caused by too fast speed. Starting the distance recording function at the second preset position can monitor the moving distance of the glass in real time. By reducing the speed of the conveyor belt when approaching the stop position and extending the front positioning device at an appropriate time, the impact force generated when the glass suddenly stops can be reduced, thereby reducing the risk of glass damage. The staged control logic can be adjusted according to different sizes and types of glass, for example, by changing the preset speed and preset position, so that the system can adapt to various production requirements.

[0045] In other possible implementation manners, when the entire system starts running, it begins to record the distance that the glass moves on the downstream conveyor belt. The glass may enter the downstream conveyor belt at a certain point in time. Therefore, for a period of time before that, the distance that the glass moves on the downstream conveyor belt is zero. After the glass enters the downstream conveyor belt, the distance that the glass moves on the downstream conveyor belt starts to be updated. This method can ensure that the system is always in a monitoring state, avoiding the complexity of additionally triggering the optical sensor before the glass enters the conveyor belt. When the glass enters the conveyor belt, the distance starts to be updated. This design can ensure that the system can track the position of the glass in real time without an additional triggering mechanism. By starting the distance recording function at the beginning, the system does not need to separately start the optical sensor when the glass enters the conveyor belt, thus simplifying the system design and reducing potential failure points. Among them, the possible failures of the optical sensor include decreased sensitivity, false triggering, damage, environmental interference such as strong light, dust, and stains, connection failure, light source failure, etc.

[0046] In a possible implementation manner, the first preset position is at the end sensor of the upstream conveyor belt; the second preset position is at the entrance sensor of the downstream conveyor belt; the third preset position is at the end sensor of the downstream conveyor belt; the front-end positioning device includes a first cylinder.

[0047] In this embodiment, the first preset position is a position at the end of the upstream conveyor belt. When the glass moves to the end sensor of the upstream conveyor belt, the system makes the downstream conveyor belt run at the first preset speed. The second preset position is a position at the entrance of the downstream conveyor belt. When the glass enters the entrance sensor of the downstream conveyor belt from the upstream conveyor belt, the system starts to record the distance that the glass moves on the downstream conveyor belt. The third preset position is a position at the end of the downstream conveyor belt. When the glass reaches the end sensor of the conveyor belt, the system will control the conveyor belt to run at the second preset speed (decelerate) and make the first cylinder of the front-end positioning device extend after the second preset time. A guide wheel is connected to the piston rod of the first cylinder, and a circle of grooves is provided on the circumference of the guide wheel for accommodating the glass.

[0048] In a possible implementation manner, the preset conditions include: the distance that the glass moves on the downstream conveyor belt is equal to the preset distance; wherein, the preset distance is determined according to the size of the glass, the speed of the conveyor belt, and the accuracy of the sensor.

[0049] In this embodiment, the preset condition is the condition used by the system to determine whether the glass has reached the specified stop position. Only when this condition is met can the system possibly perform the action of stopping the conveyor belt. The system will continuously monitor the distance that the glass moves on the downstream conveyor belt. When the distance that the glass moves reaches a certain preset value, the system considers that the glass has reached the specified stop position. This preset value is called the "preset distance" and is a fixed value calculated based on specific parameters.

[0050] Specifically, when glasses of different sizes move on the conveyor belt, the required stop positions may be different. Therefore, the preset distance will be adjusted according to the size of the glass. The speed of the conveyor belt will affect the moving time and distance of the glass, and the preset distance needs to consider the conveyor belt speed to ensure that the glass stops at the correct time. The accuracy of the sensor determines how accurately the system can measure the distance that the glass moves, and the preset distance needs to consider the error range of the sensor to ensure the reliability of the system.

[0051] In other possible implementation methods, the distance that the glass moves on the downstream conveyor belt can be detected by a gravity sensor to detect the change in the weight of the glass. When the glass moves on the conveyor belt, its weight distribution will change with the change of position, so as to judge the distance that the glass moves. This method is a non-contact measurement and is suitable for scenarios where the weight change is obvious, but not suitable for high-precision requirements. It is also possible to determine the distance that the glass moves according to the number of rotations of the rotating shaft of the conveyor wheel in the conveyor belt. For each rotation of the rotating shaft of the conveyor wheel, the conveyor belt will move a fixed distance. This method is suitable for high-precision positioning requirements and is applicable to glasses with regular shapes. By these two methods of measuring the distance that the glass moves, different usage requirements are met.

[0052] In a possible implementation method, the preset distance is positively correlated with the size of the glass; the preset distance is positively correlated with the speed of the conveyor belt; the preset distance is inversely correlated with the accuracy of the sensor.

[0053] Specifically, the formula for the preset distance is:

[0054]

[0055] In the formula, K1, K2, and K3 are all proportionality coefficients, A, B, and C are the glass size, conveyor belt speed, and sensor accuracy respectively, and D is a constant term.

[0056] In this embodiment, a larger-sized glass requires more space on the conveyor belt to complete its movement and stopping process. Therefore, the preset distance needs to be adjusted according to the size of the glass to ensure that the glass can accurately stop at the predetermined position. When the conveyor belt speed increases, the glass will move a longer distance in the same time. To ensure that the glass stops at the correct position, the preset distance needs to be increased accordingly to compensate for the additional distance moved due to the speed increase. A high-precision sensor means that the system can measure the position of the glass more accurately. Therefore, the conveyor belt can be stopped when it is closer to the target position. On the contrary, if the sensor accuracy is low, the system needs to stop the conveyor belt at a farther distance in advance to avoid the glass exceeding the predetermined position due to measurement errors.

[0057] In a possible implementation, the rear positioning device includes a second cylinder and a third cylinder, and the piston rod of the second cylinder is connected to the cylinder block of the third cylinder; controlling the rear positioning device to extend, and after a first preset time, pushing the glass in the direction of the front positioning device, and fixing the glass by the front positioning device and the rear positioning device, includes: controlling the piston rod of the second cylinder to extend, and after a first preset time, controlling the piston rod of the third cylinder to extend, and pushing the glass in the direction of the first cylinder by the piston rod of the third cylinder, and fixing the glass by the first cylinder and the third cylinder.

[0058] In this embodiment, the piston rod of the second cylinder is connected to the cylinder block of the third cylinder, and the telescopic movement of the second cylinder will affect the position of the third cylinder. The system first controls the piston rod of the second cylinder to extend, moving the third cylinder to a suitable position for subsequent pushing actions. After the second cylinder extends, the system waits for a preset time (the first preset time), and then controls the piston rod of the third cylinder to extend. This time interval is to ensure that the action of the second cylinder is completed and the system enters a stable state. After the piston rod of the third cylinder extends, it will push the glass in the direction of the front positioning device (the first cylinder), adjusting the glass to the final fixed position. Finally, the first cylinder and the third cylinder work together to fix the glass on the conveyor belt. The first cylinder extends when the glass reaches the designated position, and the third cylinder ensures the accurate position of the glass through the pushing action. Among them, a guide wheel is connected to the piston rod of the third cylinder, and a groove is provided around the circumference of the guide wheel for accommodating the glass. When the piston rod of the third cylinder pushes the glass in the direction of the first cylinder, the piston rod of the third cylinder first moves to one side of the end of the glass movement, so that the glass is accommodated in the groove of the guide wheel connected to the piston rod of the third cylinder, and then pushes the glass in the direction of the first cylinder. Finally, the front side of the glass movement enters the groove of the guide wheel connected to the piston rod of the first cylinder, and the glass is fixed by the first cylinder and the third cylinder.

[0059] In a possible implementation, the thrust of the piston rod of the third cylinder pushing the glass is adjusted according to the warpage of the glass.

[0060] In this embodiment, a pressure sensor is installed on the piston rod of the third cylinder, a displacement sensor is installed on the conveyor belt, and a camera is installed above the conveyor belt for visual monitoring. When the third cylinder pushes the glass, the pressure sensor monitors the thrust in real time, the displacement sensor monitors the movement of the glass in real time, and the vision system monitors the warpage of the glass in real time. Using a feedback control algorithm, the thrust of the third cylinder is dynamically adjusted according to the real-time data. If the thrust or displacement exceeds the preset range, the system automatically adjusts the thrust. If the warpage of the glass changes, the system dynamically adjusts the thrust according to the feedback of the vision system. By using the pressure sensor, displacement sensor and vision system, combined with the feedback control algorithm, the thrust of the piston rod of the third cylinder can be dynamically adjusted according to the warpage of the glass. This adjustment mechanism ensures that the glass will not be damaged during the pushing process, avoiding scratches or bulges in the middle of the glass caused by excessive thrust, which will not affect the quality of the glass, and at the same time ensuring that the glass can be accurately moved to the predetermined position, improving the reliability and production efficiency of the system.

[0061] After the first cylinder and the third cylinder fix the glass, the system controls the manipulator to perform a grasping action according to a preset trajectory. When the manipulator grasps the glass and the vacuum feedback is normal, the piston rod of the third cylinder retracts. After 1 second, the piston rod of the second cylinder retracts. When the second cylinder and the third cylinder return to their original positions, the manipulator takes away the glass, controls the first cylinder to return to its original position, and waits for the upstream glass to be conveyed.

[0062] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0063] The following is an apparatus embodiment of the present invention. For the details not described in detail herein, reference may be made to the corresponding method embodiments above.

[0064] Figure 2 The structural schematic diagram of the glass conveying and positioning control device provided by the embodiment of the present invention is shown. For the sake of convenience of description, only the parts related to the embodiment of the present invention are shown and are described in detail as follows:

[0065] As Figure 2 shown, the glass conveying and positioning control device 2 includes:

[0066] A front-end positioning device control module 21, configured to control a front-end positioning device disposed on one side of the end of the conveyor belt to extend when the glass reaches a specified position on the conveyor belt; wherein, the front-end positioning device is located between the specified position and the end of the conveyor belt; the specified position is the third preset position;

[0067] The conveyor belt control module 22 is configured to obtain the distance that the glass moves on the conveyor belt and control the conveyor belt to stop running when a preset condition is met; wherein, the preset condition is that the glass does not contact the rear positioning device.

[0068] The glass fixing module 23 is configured to control the rear positioning device to extend, and after a first preset time, push the glass in the direction of the front positioning device to fix the glass through the front positioning device and the rear positioning device.

[0069] In a possible implementation manner, the front positioning device control module 21 can be configured to:

[0070] Detect the position of the glass on the conveyor belt, and when the glass reaches a first preset position, control the conveyor belt to run at a first preset speed;

[0071] When the glass reaches a second preset position, start recording the distance that the glass moves on the conveyor belt;

[0072] When the glass reaches a third preset position, control the conveyor belt to run at a second preset speed, and after a second preset time, control the front positioning device to extend; wherein, the first preset speed is greater than the second preset speed.

[0073] Figure 3 It is a schematic diagram of the electronic device provided by an embodiment of the present invention. As Figure 3 shown, the electronic device 3 of this embodiment includes: a processor 30 and a memory 31. The memory 31 stores a computer program 32. When the processor 30 executes the computer program 32, the steps in the above-mentioned various method embodiments are implemented. Alternatively, when the processor 30 executes the computer program 32, the functions of each module / unit in the above-mentioned various device embodiments are implemented.

[0074] Exemplarily, the computer program 32 can be divided into one or more modules / units, and the one or more modules / units are stored in the memory 31 and executed by the processor 30 to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 32 in the electronic device 3.

[0075] The electronic device 3 may include, but is not limited to, a processor 30 and a memory 31. Those skilled in the art can understand that Figure 3 merely an example of the electronic device 3, which does not constitute a limitation on the electronic device 3, and may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, the electronic device 3 may further include input / output devices, network access devices, buses, etc.

[0076] The processor 30 may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0077] The memory 31 may be an internal storage unit of the electronic device 3, such as the hard disk or memory of the electronic device 3. The memory 31 may also be an external storage device of the electronic device 3, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc. equipped on the electronic device 3. Further, the memory 31 may also include both the internal storage unit and the external storage device of the electronic device 3. The memory 31 is used to store the computer program 32 and other programs and data required by the electronic device 3. The memory 31 may also be used to temporarily store the data that has been output or is to be output.

[0078] For the convenience and brevity of description, only the above division of each functional module / unit is used as an example. In actual applications, the above functions may be assigned to different functional modules / units according to needs. The above modules / units may be implemented in the form of hardware, may also be implemented in the form of software, or may be implemented in the form of a combination of hardware and software.

[0079] The embodiment of the present invention also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the methods in the above method embodiments are implemented.

[0080] The embodiment of the present invention also provides a computer program product, including a computer program. When the computer program is executed by a processor, the methods in the above method embodiments are implemented.

[0081] Among them, the computer program includes computer program code, which can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc.

[0082] In the above embodiments, the descriptions of each embodiment have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. Without special instructions and logical conflicts, the terms and / or descriptions between different embodiments are consistent and can be mutually referred to. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0083] The above-described 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 various embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A glass conveying positioning control method, characterized in that: include: When the glass reaches a designated position on the conveyor belt, a front end positioning device arranged on one side of the end of the conveyor belt is controlled to extend; wherein the front end positioning device is located between the designated position and the end of the conveyor belt; Obtaining the distance that the glass moves on the conveyor belt, and when a preset condition is reached, controlling the conveyor belt to stop running; wherein the preset condition makes the glass not in contact with the rear end positioning device; The rear end positioning device is controlled to extend, and after a first preset time, the glass is pushed toward the direction of the front end positioning device, and the glass is fixed by the front end positioning device and the rear end positioning device.

2. The glass conveying positioning control method according to claim 1, characterized in that: The designated position is a third preset position, and when the glass reaches the designated position on the conveyor belt, the front end positioning device arranged at one end side of the conveyor belt is controlled to extend, including: Detecting the position of the glass on the conveyor belt, and when the glass reaches a first preset position, controlling the conveyor belt to run at a first preset speed; When the glass reaches a second preset position, start recording the distance the glass moves on the conveyor belt; When the glass reaches the third preset position, the conveyor belt is controlled to run at a second preset speed, and after a second preset time, the front end positioning device is controlled to extend; wherein the first preset speed is greater than the second preset speed.

3. The glass conveying positioning control method according to claim 2, characterized in that: The first preset position is the end sensor of the upstream conveyor belt; the second preset position is the entrance sensor of the downstream conveyor belt; the third preset position is the end sensor of the downstream conveyor belt; the front end positioning device includes a first cylinder.

4. The glass conveying positioning control method according to claim 1, characterized in that: The preset conditions include: The distance that the glass moves on the downstream conveyor belt is equal to a preset distance; wherein the preset distance is determined according to the size of the glass, the speed of the conveyor belt and the accuracy of the sensor.

5. The glass conveying positioning control method according to claim 4, characterized in that: The preset distance is positively correlated with the size of the glass; the preset distance is positively correlated with the speed of the conveyor belt; and the preset distance is inversely correlated with the accuracy of the sensor.

6. The glass conveying positioning control method according to claim 1, characterized in that: The rear end positioning device comprises a second cylinder and a third cylinder, and the piston rod of the second cylinder is connected to the cylinder body of the third cylinder; The controlling the rear end positioning device to extend and, after a first preset time, to push the glass toward the front end positioning device, and fixing the glass by the front end positioning device and the rear end positioning device, comprises: The piston rod of the second cylinder is controlled to extend, and after a first preset time, the piston rod of the third cylinder is controlled to extend, the glass is pushed toward the first cylinder by the piston rod of the third cylinder, and the glass is fixed by the first cylinder and the third cylinder.

7. The glass conveying positioning control method according to claim 6, characterized in that: The thrust of the piston rod of the third cylinder pushing the glass is adjusted according to the warping degree of the glass.

8. A glass conveying positioning control device, characterized in that: include: A front-end positioning device control module, used to control the front-end positioning device to extend when the glass reaches a designated position on the conveyor belt; wherein the designated position is close to the end of the conveyor belt; A conveyor belt control module, used to obtain the distance that the glass moves on the conveyor belt, and control the conveyor belt to stop running when a preset condition is reached; wherein the preset condition makes the glass not in contact with the rear end positioning device; The glass fixing module is used to control the rear end positioning device to extend, and after a first preset time, push the glass toward the front end positioning device, and fix the glass through the front end positioning device and the rear end positioning device.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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