A vertical glass defect positioning mechanism and method

Abstract

The present invention discloses a vertical glass defect locating mechanism and method, which relates to the technical field of vertical glass detection. The mechanism comprises a support frame equipped with a horizontal conveying assembly and a position limiting assembly; a support panel for placing the vertical glass is mounted on the horizontal conveying assembly; a glass defect locating device is disposed on the top of the support frame; the defect locating assembly is equipped with two laser emitters; a detection terminal obtains the coordinates of the glass defect detected by the vertical glass detection device; based on the glass defect coordinates, the required rotation angles of two motors are calculated; the current angle of the motor is obtained, and the actual rotation angle of the motor is calculated based on the required rotation angle and the current angle. The detection terminal sends a command to the motor to control the motor rotation so that the two laser emitters are simultaneously aligned with the glass defect position. Through precise control of the laser emitters and the motor, the glass defect position can be accurately located, improving the accuracy of detection.

Description

Technical Field

[0001] The present invention relates to the technical field of vertical glass detection, and in particular to a vertical glass defect positioning mechanism and method. Background Art

[0002] In the glass industry, glass defects are inspected at the end of production. These defects include scratches, dirt, bubbles, chipped edges, and other defects that can affect the glass's usability. Inspection software displays the inspection results on the screen, and the coordinates displayed by the software are used as a reference to mark the defect locations with a ruler.

[0003] Glass defect location technology simply approximates the defect's location, lacking precise coordinate calculation and motor control. This results in inaccurate positioning and fails to meet the requirements of high-precision glass production. When multiple defects exist on the glass, existing technology cannot effectively locate and address them in an orderly manner. Defects can be missed, impacting production efficiency and product quality. Summary of the Invention

[0004] The present invention provides a vertical glass defect locating mechanism, which can accurately locate the position of glass defects through precise control of a laser emitter and a motor, thereby improving detection accuracy.

[0005] The mechanism includes: a detection terminal, a support frame, and a vertical glass detection device arranged on one side of the support frame;

[0006] The support frame is equipped with a horizontal conveying assembly for driving the horizontal movement of the vertical glass and a limiting assembly for limiting the position of the vertical glass; a bracket panel for placing the vertical glass is installed on the horizontal conveying assembly; a glass defect positioning device is provided on the top of the support frame;

[0007] The glass defect locating device is provided with a plurality of defect locating components, each of which is provided with two laser emitters, wherein the first laser emitter is provided near the first end of the top of the support frame, and the second laser emitter is provided near the second end of the top of the support frame; each laser emitter is connected to a motor for driving the laser emitter to rotate;

[0008] The detection terminal is electrically connected to the vertical glass detection device, the horizontal conveying component, the laser emitter and the motor respectively. The detection terminal controls the two laser emitters to initially shoot vertically toward the lower edge of the bracket panel to obtain the coordinates of the glass defects detected by the vertical glass detection device; based on the glass defect coordinates, the angles at which the two motors need to rotate are calculated; the current angle of the motor is obtained, and the actual rotation angle of the motor is obtained based on the angle to be rotated and the current angle. The detection terminal sends instructions to the motor to control the rotation of the motor so that the two laser emitters are simultaneously aligned with the glass defect position.

[0009] It should be further explained that when there are multiple glass defect points, the detection terminal controls the two motors in the first defect locating assembly to the initial position, so that the laser emitter in the first defect locating assembly is vertically directed toward the lower edge of the bracket panel;

[0010] The detection terminal obtains the positions of all glass defect points on the glass through the vertical glass detection device; retrieves the position of the first glass defect point, calculates the rotation angles of the two motors in the first defect positioning assembly, and controls the laser emitter in the first defect positioning assembly to align with the first glass defect point position;

[0011] Then retrieve the position of the second glass defect point, calculate the rotation angles of the two motors in the second defect locating assembly, and control the laser emitter in the second defect locating assembly to align with the position of the second glass defect point; and so on.

[0012] It should be further explained that the limit assembly is provided with a lifting slide, which is arranged on the two side frames of the support frame, and the lifting slide is provided with a rack, which is connected to the lifting beam through gear meshing, and the gear is connected to the lifting motor;

[0013] A photoelectric switch for sensing the position of the vertical glass is provided on the lifting beam;

[0014] The detection terminal is electrically connected to the photoelectric switch and the lifting motor respectively.

[0015] It should be further explained that the lifting beam is a U-shaped structure, and the lifting slide is fixed to the two side frames of the support frame by bolts and nuts.

[0016] It should be further explained that the horizontal conveying assembly is provided with a plurality of conveying wheels and a driving wheel, and the plurality of conveying wheels and the driving wheel are respectively fixed on the bottom beam of the support frame, and a conveyor belt is wound around the plurality of conveying wheels and the driving wheel, and a V-shaped block is provided on the conveyor belt;

[0017] The driving wheel is connected to a horizontal driving motor, and the detection terminal is electrically connected to the horizontal driving motor.

[0018] It should be further explained that a plurality of pulleys are provided on the bracket panel, and the pulleys are fixed to the bracket panel by buckles.

[0019] It should be further explained that the motor is fixed to the support frame through an L-shaped plate, the motor and the L-shaped plate, and the L-shaped plate and the bracket are connected by bolts respectively, and the laser emitter is connected to the motor through a connecting sleeve.

[0020] According to another embodiment of the present application, a method for locating defects in vertical glass is provided, the method comprising:

[0021] Control the two laser emitters to initially shoot vertically toward the lower edge of the bracket panel;

[0022] Obtaining the coordinates of glass defects detected by the vertical glass detection device;

[0023] According to the coordinates of the glass defect, calculate the angles that the two motors need to rotate respectively;

[0024] The current angle of the motor is obtained, and the actual rotation angle of the motor is obtained based on the required rotation angle and the current angle. The detection terminal sends instructions to the motor to control the motor rotation so that the two laser emitters are simultaneously aimed at the glass defect position.

[0025] It should be further explained that the method further includes:

[0026] The detection terminal controls the two laser transmitters to initially shoot vertically toward the lower edge of the bracket panel and ensures that all motors and photoelectric sensors are in the starting position;

[0027] Use the vertical glass inspection device to detect and record the location information of all defects on the glass;

[0028] According to the recorded glass defect coordinates, the angle that each motor needs to rotate is calculated, and the angle value of the motor's current position is determined;

[0029] Create a motor control process. The motor control process controls the direction and number of steps of the motor according to the difference between the required rotation angle and the current angle.

[0030] If the direction of rotation is forward, the motor control process is started and the motor rotates clockwise according to the calculated number of steps;

[0031] If the direction of movement is reverse, the motor control process is started, first rotating counterclockwise to the reset point, and then rotating clockwise from the starting point of the step counting to the target position;

[0032] After reaching the position, update the position coordinates of the motor.

[0033] It should be further noted that the method further includes: controlling two laser emitters to initially shoot vertically toward the lower edge of the bracket panel to obtain the coordinates of the glass defect detected by the vertical glass detection device;

[0034] According to the coordinates of the glass defect, calculate the angles that the two motors need to rotate respectively;

[0035] Get the current angle of the first motor. Let the current angle be Ac and the required rotation angle be Ad. Calculate the difference dA = Ad - Ac.

[0036] Get the current angle of the second motor as Bc, the required rotation angle is Bd, and calculate the difference dB = Bd-Bc;

[0037] The detection terminal creates two motor control processes, one to control the first motor and the other to control the second motor:

[0038] If dA≥0, dB≥0, the first motor control process controls the first motor to rotate in the specified direction for a number of steps related to dA; the second motor control process controls the second motor to rotate in the specified direction for a number of steps related to dB;

[0039] If dA≥0, dB<0, the first motor control process controls the first motor to rotate in the specified direction for the number of steps associated with dA; the second motor control process controls the second motor to rotate in the reverse direction to reset to the preset origin position, and then rotate forward to the step counting origin position to start step counting, and rotate in the specified direction from the step counting origin for the number of steps associated with Bd;

[0040] If dA<0, dB≥0, the first motor control process controls the first motor to rotate in the reverse direction to reset to the preset origin position, and then rotate forward to the step counting origin position to start step counting, and rotates in the specified direction from the step counting origin for the number of steps related to Ad; the second motor control process controls the second motor to rotate in the specified direction for the number of steps related to dB;

[0041] If dA<0, dB<0, the first motor control process controls the first motor to rotate in the reverse direction to the preset origin position, and then rotate forward to the step counting origin position to start step counting, and rotate in the specified direction from the step counting origin position for the number of steps related to Ad;

[0042] The second motor control process controls the second motor to rotate in the reverse direction to the preset origin position, and then rotate forward to the step counting origin position to start step counting, and rotate the number of steps related to Bd in the specified direction starting from the step counting origin;

[0043] After the detection terminal completes the execution of the current motor control process, it waits for the next motor control process.

[0044] It can be seen from the above technical solutions that the present invention has the following advantages:

[0045] The vertical glass defect positioning mechanism provided by the present application realizes the automated process of horizontal conveying, limiting and defect positioning of vertical glass through the coordinated work of multiple components such as the detection terminal, horizontal conveying component, and limiting component, thereby improving the efficiency of detection and positioning. By utilizing multiple defect positioning components and two laser emitters in each component, glass defects can be located from different positions. The present application improves the accuracy and reliability of positioning. It can calculate and control the motor rotation angle based on the detected glass defect coordinates so that the laser emitter is accurately aligned with the glass defect position, such as marking, repairing, etc., thereby improving the efficiency of glass quality detection. When faced with multiple glass defect points, the detection terminal can control different defect positioning components in sequence according to a preset order for positioning. First, the motor of the first defect positioning component is adjusted to the initial position, and then the position information of each defect point is obtained and processed in sequence to ensure that each defect can be accurately marked and processed, avoiding omissions and confusion, and improving the efficiency and accuracy of multi-defect processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for the description. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0047] Figure 1 This is a schematic diagram of a vertical glass defect positioning mechanism;

[0048] Figure 2 It is a side schematic diagram of the vertical glass defect positioning mechanism;

[0049] Figure 3 It is a schematic diagram of the horizontal conveying component;

[0050] Figure 4 It is a schematic diagram of the limit component;

[0051] Figure 5 Schematic diagram of defect location component;

[0052] Figure 6 This is a schematic diagram of laser indication defects;

[0053] Figure 7 Calculate the position diagram for defect location;

[0054] Figure 8 A schematic diagram of defect location calculation according to another embodiment.

[0055] Description of reference numerals:

[0056] 1-support frame, 2-bracket panel, 3-glass, 4-pulley, 5-vertical glass detection device, 6-lifting slide, 7-horizontal conveying assembly, 11-driving wheel, 12-transmission wheel, 13-conveyor belt, 14-V-block, 15-lifting beam, 16-photoelectric switch, 21-laser emitter, 22-L-shaped plate, 23-motor, 24-first motor, 25-motor No. 2 on the left, 26-second motor, 27-motor No. 2 on the right of the second defect positioning assembly, 28-first defect, 29-second defect. DETAILED DESCRIPTION

[0057] The vertical glass defect positioning mechanism provided by the present application is realized by detecting the terminal, the horizontal conveying component, the limiting

[0058] The coordinated operation of multiple components, including positioning components, automates the horizontal conveying, positioning, and defect location of vertical glass, improving inspection and positioning efficiency. Utilizing multiple defect location components and two laser emitters in each component, glass defects can be located from different positions, improving glass quality inspection efficiency.

[0059] Various embodiments of the vertical glass defect location mechanism will be described more fully below. The present disclosure is capable of various embodiments, and modifications and variations therein are possible. However, it should be understood that there is no intention to limit the various embodiments of the present disclosure to the specific embodiments disclosed herein, and that the present disclosure is to encompass all modifications, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of the present disclosure.

[0060] In various embodiments of the present disclosure, the expression "or" or "at least one of A or / and B" includes any or all combinations of the words listed simultaneously. For example, the expression "A or B" or "at least one of A or / and B" may include A, may include B, or may include both A and B.

[0061] The expressions (such as "first", "second", etc.) used in the various embodiments of the present disclosure may modify the various constituent elements in the various embodiments, but may not limit the corresponding constituent elements. For example, the above expressions do not limit the order and / or importance of the elements. The above expressions are only used to distinguish one element from other elements. For example, a first user device and a second user device indicate different user devices, although both are user devices. For example, without departing from the scope of the various embodiments of the present disclosure, a first element may be referred to as a second element, and similarly, a second element may also be referred to as a first element.

[0062] It should be noted that when a component is described as being “connected” to another component, the first component may be directly connected to the second component, and a third component may be “connected” between the first and second components. Conversely, when a component is described as being “directly connected” to another component, it can be understood that there is no third component between the first and second components.

[0063] In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solutions protected by the present invention will be clearly and completely described below using specific embodiments and drawings. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of them. Based on the embodiments in this patent, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this patent.

[0064] like Figure 1 and Figure 2 As shown, the vertical glass defect location mechanism provided in this embodiment includes: a detection terminal, a support frame 1, and a vertical glass detection device 5 disposed on one side of the support frame 1. The support frame 1 is provided with three frames connected by a transverse connecting beam. Multiple frames can be provided as needed.

[0065] The support frame 1 is designed with a horizontal conveying component 7 and a limiting component, which can smoothly and accurately drive the vertical glass to move horizontally and ensure that it remains stable during the inspection process.

[0066] In some specific embodiments, such as Figure 4 As shown, the limiting assembly is provided with a lifting slide 6, and the lifting slide 6 is provided on the side frames of the support frame 1, and can be specifically connected to the side frames of the support frame 1 by bolts. The lifting slide 6 is provided with a rack, and the rack is connected to the lifting beam 15 through gear meshing, and the gear is connected to the lifting motor to achieve flexible height adjustment, driving the lifting beam 15 to move up and down. The lifting beam 15 is provided with a photoelectric switch 16 for sensing the position of the vertical glass; the detection terminal is electrically connected to the photoelectric switch 16 and the lifting motor respectively. Optionally, the lifting beam 15 has an inherent pulley, and the pulley can avoid friction between the glass and the lifting beam 15. When the glass moves to the position of the photoelectric switch 16, the sensing information is triggered, so that the detection terminal controls the lifting motor to stop running, which is convenient for positioning the glass.

[0067] Optionally, the lifting beam 15 is a U-shaped structure to prevent the glass from falling during the cleaning process. The lifting slide 6 is fixed to the frame on both sides of the support frame 1 by bolts and nuts.

[0068] like Figure 3As shown, the horizontal conveying assembly 7 of this embodiment is provided with multiple conveying wheels 12 and driving wheels 11. The multiple conveying wheels 12 and driving wheels 11 are respectively fixed to the bottom beam of the support frame 1. A conveyor belt 13 is wrapped around the multiple conveying wheels 12 and driving wheels 11. The conveyor belt 13 is provided with a V-shaped block 14. The V-shaped block 14 prevents the glass 3 from sliding away from the support panel. The glass 3 is placed on the V-shaped block 14 of the conveyor belt 13 and moves forward due to the friction between the V-shaped block 14. The driving wheel 11 is connected to the horizontal drive motor, and the detection terminal is electrically connected to the horizontal drive motor.

[0069] It should be noted that the horizontal drive motor is connected to the drive wheel 11 through a coupling and transmits power to the drive wheel 11. Friction transmission is performed between the drive wheel 11 and the conveyor belt 13, and the V-block 14 is fixed on the conveyor belt 13.

[0070] As can be seen, when the glass is placed on support frame 1, the detection terminal obtains information such as the length and width of the glass, and drives the lifting beam 15 to the appropriate height based on the obtained glass height. The horizontal drive motor can also be controlled to drive the glass forward via conveyor belt 13. The top edge of the glass is located in the U-shaped groove of lifting beam 15, and the photoelectric switch 16 senses the position. The glass stops moving when the left edge moves to the photoelectric switch 16.

[0071] The horizontal conveyor assembly 7 in this embodiment is equipped with a support panel 2 for supporting vertical glass. The support panel 2 is tilted at a certain angle to the ground to provide relative positioning for the glass, rather than being completely perpendicular to the ground. This ensures the safety and stability of the glass throughout the inspection process. The support panel is equipped with multiple pulleys 4, which are secured to the support panel via snaps. This prevents friction between the glass and the support panel, improving the smoothness and accuracy of the glass's movement.

[0072] like Figure 5 As shown, the glass defect locating device of this embodiment is equipped with multiple defect locating components, each of which is equipped with two laser emitters 21. The first laser emitter is located near the first end of the top of the support frame 1, and the second laser emitter is located near the second end of the top of the support frame 1. Each laser emitter is connected to a motor 23 for driving its rotation. Optionally, the motor 23 is fixed to the support frame 1 via an L-shaped plate 22. The motor and L-shaped plate 22, and the L-shaped plate 22 and the bracket are respectively connected by bolts. The laser emitter 21 is connected to the motor 23 via a connecting sleeve.

[0073] The detection terminal is electrically connected to the vertical glass detection device 5, the horizontal conveying component 7, the laser emitter and the motor respectively. The detection terminal controls the two laser emitters to initially shoot vertically toward the lower edge of the bracket panel to obtain the coordinates of the glass defects detected by the vertical glass detection device 5; based on the glass defect coordinates, the angles at which the two motors need to rotate are calculated; the current angle of the motor is obtained, and the actual rotation angle of the motor is obtained based on the angle to be rotated and the current angle. The detection terminal sends instructions to the motor to control the rotation of the motor so that the two laser emitters are simultaneously aligned with the glass defect position.

[0074] like Figure 6 As shown, the motor in this embodiment drives the laser emitters connected via a sleeve, driving their rotation angle so that the linear lasers emitted by a group of laser emitters intersect at a point at the defect in glass 3. The intersection is the defect location, completing the location of the defect in glass 3.

[0075] In this embodiment, when there are multiple glass defect points, the detection terminal controls the two motors in the first defect positioning assembly to the initial position, so that the laser emitter in the first defect positioning assembly is vertically directed toward the lower edge of the bracket panel; the detection terminal obtains the positions of all glass defect points on the glass through the vertical glass detection device 5; the position of the first glass defect point is retrieved, the rotation angle of the two motors in the first defect positioning assembly is calculated, and the laser emitter in the first defect positioning assembly is controlled to be aligned with the position of the first glass defect point; the position of the second glass defect point is then retrieved, the rotation angle of the two motors in the second defect positioning assembly is calculated, and the laser emitter in the second defect positioning assembly is controlled to be aligned with the position of the second glass defect point; and so on.

[0076] In some specific embodiments, when multiple sets of defect location components are installed, in order to facilitate distinction, different groups of laser indicator lights may use lasers of different colors. Defects such as dirt that can be quickly cleaned manually are indicated by green laser beams, and defects such as scratches and bubbles that cannot be quickly cleaned manually are indicated by red laser beams, or other combinations of indication methods.

[0077] The control method in this embodiment can be based on automatic operation, and can also be equipped with interactive tools such as a wireless remote control. After manually cleaning or marking the current defect, the remote control or other interactive tools can be pressed to make the laser pointer locate the next defect, and the interface of the detection terminal will synchronously mark the currently indicated defect.

[0078] In an exemplary embodiment, Figure 7As shown, the preset position at the bottom of the support frame is the coordinate origin, which can be optionally located at the lower left corner of the glass. The initial position of the laser emitter is vertically directed toward the lower edge of the support panel. The detection terminal obtains the coordinates of the first defect 28 of the glass as (l, h). The distance between the two defect location components is L, and the distance between the defect location component and the lower edge of the glass is H. From this, it can be calculated that the first motor 24 needs to rotate counterclockwise by an angle α°, and the second motor 26 needs to rotate clockwise by an angle β°.

[0079]

[0080] .

[0081] L represents the distance between the first motor and the second motor; l is the horizontal distance from the first motor to the glass defect.

[0082] If the second glass defect 29 is indicated, the first motor 24 needs to rotate α1° relative to the initial position, and the second motor 26 needs to rotate β1° relative to the initial position. The actual rotation angle of the first motor 24 is α2°, and the actual rotation angle of the second motor 26 is β2°. α2 = α1 - α, β2 = β - β1.

[0083] Figure 8 This is a schematic diagram of two glass defect indications in this embodiment. Two defect location assemblies are provided. The first motor 24 is spaced x from the second defect location assembly's left motor 25. The second motor 26 is also spaced x from the second defect location assembly's right motor 27. When the second defect location assembly points to the first glass defect 28, the second defect location assembly's left motor 25 must rotate counterclockwise by γ°, while the second defect location assembly's right motor 27 must rotate clockwise by θ°.

[0084]

[0085] .

[0086] The vertical glass defect location mechanism of this embodiment clearly defines a method for calculating the motor rotation angle based on the glass defect coordinates, enabling the laser emitter to be aligned with the glass defect location. For example, for defects in different locations (such as the first defect and the second defect), the precise motor rotation angle can be calculated based on the specific coordinates and distance parameters, reducing positioning errors and improving positioning accuracy. This embodiment considers the use of multiple defect location components and provides distance parameters between different components and corresponding motor rotation angle calculation methods. The number and layout of defect location components can be customized to meet the needs of inspecting glass of varying sizes and defect distributions, improving versatility and adaptability.

[0087] The following is an embodiment of a method for locating a defect in a vertical glass provided by an embodiment of the present disclosure. This method and the vertical glass defect locating mechanism of the aforementioned embodiments belong to the same inventive concept. For details not fully described in the embodiment of the method for locating a defect in a vertical glass, reference can be made to the embodiments of the aforementioned vertical glass defect locating mechanism.

[0088] Methods include:

[0089] The two laser emitters are controlled to initially shoot vertically toward the lower edge of the bracket panel.

[0090] Obtain the coordinates of glass defects detected by the vertical glass inspection device.

[0091] Based on the coordinates of the glass defect, calculate the angles that the two motors need to rotate.

[0092] The current angle of the motor is obtained, and the actual rotation angle of the motor is obtained based on the required rotation angle and the current angle. The detection terminal sends instructions to the motor to control the motor rotation so that the two laser emitters are simultaneously aimed at the glass defect position.

[0093] As an example of this method, the method further includes:

[0094] Step 101: The detection terminal controls the two laser transmitters to initially shoot vertically toward the lower edge of the bracket panel and ensures that all motors and photoelectric sensors are in the starting position.

[0095] In this embodiment, the detection terminal controls the two laser emitters so that their initial position is perpendicular to the bottom edge of the bracket panel. This process ensures that any subsequent adjustments are based on a fixed reference point. The detection terminal also confirms that all motors and photoelectric sensors are in their starting positions, which can be reset, meaning they are adjusted to a known reference point, to facilitate accurate calculation of subsequent motion paths.

[0096] Step 102: Detect and record all defect location information on the glass using a vertical glass detection device.

[0097] This embodiment uses a vertical glass inspection device to scan and identify all defects on the glass surface, and records the specific location information of these defects through the inspection terminal. The defect location information includes the horizontal and vertical distance relative to a reference point (such as the bottom edge of the bracket panel).

[0098] Step 103: Calculate the angle that each motor needs to rotate according to the recorded glass defect coordinates, and determine the angle value of the motor's current position.

[0099] Based on the defect coordinates obtained in step 102 and combined with the current angle value of each motor, the specific angle that each motor needs to rotate to enable the laser transmitter to accurately point to the defect position is calculated.

[0100] Step 104: Create a motor control process. The motor control process controls the moving direction and number of steps of the motor according to the difference between the required rotation angle and the current angle.

[0101] In this embodiment, a dedicated motor control process is created. This process determines the direction (clockwise or counterclockwise) and number of steps the motor should take based on the difference between the desired rotation angle calculated in the previous step and the motor's current angle. This control process also handles various potential scenarios, such as whether to rotate forward or backward to a reset point and then restart the step count. By creating a dedicated control process, different operational requirements can be addressed more flexibly, improving the system's responsiveness and adaptability.

[0102] Step 105: If the direction of rotation is forward, the motor control process is started and the motor rotates clockwise according to the calculated number of steps.

[0103] Step 106: If the direction of movement is reverse, the motor control process is started, first rotating counterclockwise to the reset point, and then rotating clockwise from the step counting starting point to the target position.

[0104] Step 107: After reaching the position, update the position coordinates of the motor.

[0105] In this embodiment, once the motor reaches the target position, the system automatically updates the position coordinates of the motor and records the new position as a new starting point for the next operation.

[0106] The above steps clarify the specific operation methods of each step, and also demonstrate how the entire process works together to achieve efficient and accurate positioning of vertical glass defects, thereby improving inspection quality and efficiency.

[0107] As a specific implementation of the method of this embodiment: the method further includes: controlling the two laser emitters to initially emit vertically toward the lower edge of the bracket panel to obtain the coordinates of the glass defects detected by the vertical glass detection device.

[0108] Based on the coordinates of the glass defect, calculate the angles that the two motors need to rotate.

[0109] Get the current angle of the first motor. Let the current angle be Ac and the required rotation angle be Ad. Calculate the difference dA = Ad - Ac.

[0110] The current angle of the second motor is obtained as Bc, the required rotation angle is Bd, and the difference dB is calculated as Bd-Bc.

[0111] The detection terminal creates two motor control processes to control the operation of the first motor and the second motor respectively.

[0112] If dA≥0, dB≥0, the first motor control process controls the first motor to rotate in the specified direction for the number of steps related to dA; the second motor control process controls the second motor to rotate in the specified direction for the number of steps related to dB.

[0113] If dA≥0, dB<0, the first motor control process controls the first motor to rotate in the specified direction for the number of steps related to dA; the second motor control process controls the second motor to first rotate in the reverse direction to reset to the preset origin position, and then rotate forward to the step counting origin position to start step counting, and rotate in the specified direction from the step counting origin for the number of steps related to Bd.

[0114] If dA<0, dB≥0, the first motor control process controls the first motor to rotate in the opposite direction to reset to the preset origin position, and then rotate forward to the step counting origin position to start step counting, and rotate in the specified direction from the step counting origin for the number of steps related to Ad; the second motor control process controls the second motor to rotate in the specified direction for the number of steps related to dB.

[0115] If dA<0, dB<0, the first motor control process controls the first motor to rotate in the reverse direction to the preset origin position, and then rotate forward to the step counting origin position to start step counting, and rotate in the specified direction from the step counting origin position for the number of steps related to Ad.

[0116] The second motor control process controls the second motor to rotate in the reverse direction to the preset origin position, and then rotate forward to the step counting origin position to start step counting, and rotate in the specified direction from the step counting origin for the number of steps related to Bd.

[0117] After the detection terminal completes the execution of the current motor control process, it waits for the next motor control process.

[0118] In this embodiment, during the operation of the motor, due to factors such as slight deviations in the mechanical structure and changes in friction, cumulative errors may occur, affecting the positioning accuracy. By resetting the motor to a preset origin position and restarting the step counting from the pedometer origin, these cumulative errors can be effectively eliminated, ensuring that each movement of the motor can be based on an accurate starting point, thereby improving the accuracy of positioning. This embodiment plans the most suitable motion path for the motor based on different dA and dB combinations. When the signs of dA and dB are inconsistent, allowing one motor to reset and re-step can make the movement of the motor more in line with the actual needs of defect positioning and avoid positioning deviations caused by unreasonable motion paths.

[0119] When dA and dB have the same sign, the motor is directly controlled to rotate the corresponding number of steps in the specified direction, reducing motor motion time and energy consumption and improving system response speed. For example, in glass defect location, this allows for faster alignment of the laser transmitter at the defect location. Separating motor control into two independent processes enables parallel control of both motors. In complex positioning tasks, both motors can simultaneously operate according to their respective motion strategies, shortening overall positioning time.

[0120] By acquiring the coordinates of the glass defect and accurately calculating the motor rotation angle, while also taking the current motor angle into account and making detailed adjustments, the laser emitter can be more accurately aligned with the glass defect location. Compared with traditional positioning methods, this reduces positioning deviations caused by motor control errors, significantly improving positioning accuracy. For example, defect positioning errors can be reduced from millimeter level to sub-millimeter level, effectively meeting the demand for high-precision detection and positioning of glass defects.

[0121] The detection terminal of this embodiment may include a display module, a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the vertical glass defect locating method are implemented.

[0122] In the embodiment of the present invention, the detection terminal includes but is not limited to a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers.

[0123] In the embodiment of the present application, the processor can be implemented by using at least one of an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field programmable gate array (FPGA), a processor, a controller, a microcontroller, a microprocessor, and an electronic unit designed to perform the functions described herein. In some cases, such an embodiment can be implemented in a controller. For software implementation, an embodiment such as a process or function can be implemented with a separate software module that allows the execution of at least one function or operation. The software code can be implemented by a software application (or program) written in any appropriate programming language, and the software code can be stored in a memory and executed by a controller.

[0124] The display module is used to display information input by the user or information provided to the user. The display module may include a display panel, which may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), etc.

[0125] The memory can be used to store software programs and various data. The memory can include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0126] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the composition and steps of each example according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0127] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, or can be electrical, mechanical or other forms of connection.

[0128] In addition, the described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present invention. However, it will be appreciated by those skilled in the art that the technical solutions of the present invention can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring various aspects of the present invention.

[0129] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vertical glass defect positioning mechanism, characterized in that: include: A detection terminal, a support frame, and a vertical glass detection device arranged on one side of the support frame; The support frame is equipped with a horizontal conveying assembly for driving the horizontal movement of the vertical glass and a limiting assembly for limiting the position of the vertical glass; a bracket panel for placing the vertical glass is installed on the horizontal conveying assembly; a glass defect positioning device is provided on the top of the support frame; The glass defect locating device is provided with a plurality of defect locating components, each of which is provided with two laser emitters, wherein the first laser emitter is provided near the first end of the top of the support frame, and the second laser emitter is provided near the second end of the top of the support frame; each laser emitter is connected to a motor for driving the laser emitter to rotate; The detection terminal is electrically connected to the vertical glass detection device, the horizontal conveying assembly, the laser emitter, and the motor. The detection terminal controls the two laser emitters to initially shoot vertically toward the lower edge of the bracket panel to obtain the coordinates of the glass defects detected by the vertical glass detection device; based on the glass defect coordinates, the angles at which the two motors need to rotate are calculated. The current angle of the motor is obtained, and the actual rotation angle of the motor is obtained based on the required rotation angle and the current angle. The detection terminal sends instructions to the motor to control the motor rotation so that the two laser emitters are simultaneously aimed at the glass defect position.

2. The vertical glass defect positioning mechanism according to claim 1, characterized in that: When there are multiple glass defect points, the detection terminal controls the two motors in the first defect positioning assembly to the initial position, so that the laser emitter in the first defect positioning assembly is vertically directed toward the lower edge of the bracket panel; The detection terminal obtains the positions of all glass defect points on the glass through the vertical glass detection device; retrieves the position of the first glass defect point, calculates the rotation angles of the two motors in the first defect positioning assembly, and controls the laser emitter in the first defect positioning assembly to align with the first glass defect point position; Then retrieve the position of the second glass defect point, calculate the rotation angles of the two motors in the second defect locating assembly, and control the laser emitter in the second defect locating assembly to align with the position of the second glass defect point; and so on.

3. The vertical glass defect positioning mechanism according to claim 1, characterized in that: The limit assembly is provided with a lifting slide, which is arranged on the two side frames of the support frame, and the lifting slide is provided with a rack, which is connected to the lifting beam through gear meshing, and the gear is connected to the lifting motor; A photoelectric switch for sensing the position of the vertical glass is provided on the lifting beam; The detection terminal is electrically connected to the photoelectric switch and the lifting motor respectively.

4. The vertical glass defect positioning mechanism according to claim 3, characterized in that: The lifting beam is a U-shaped structure, and the lifting slide is fixed to the frames on both sides of the support frame by bolts and nuts.

5. The vertical glass defect positioning mechanism according to claim 1, characterized in that: The horizontal conveying assembly is provided with a plurality of conveying wheels and driving wheels, the plurality of conveying wheels and driving wheels are respectively fixed on the bottom beam of the support frame, the plurality of conveying wheels and driving wheels are wound with conveyor belts, and the conveyor belts are provided with V-shaped blocks; The driving wheel is connected to a horizontal driving motor, and the detection terminal is electrically connected to the horizontal driving motor.

6. The vertical glass defect positioning mechanism according to claim 1, characterized in that: A plurality of pulleys are provided on the bracket panel, and the pulleys are fixed to the bracket panel by buckles.

7. The vertical glass defect positioning mechanism according to claim 1, characterized in that: The motor is fixed to the support frame through an L-shaped plate. The motor and the L-shaped plate, and the L-shaped plate and the support are connected by bolts respectively. The laser emitter is connected to the motor through a connecting sleeve.

8. A method for locating defects in vertical glass, characterized in that: The method is implemented based on the vertical glass defect positioning mechanism according to any one of claims 1 to 7, and the method comprises: Control the two laser emitters to initially shoot vertically toward the lower edge of the bracket panel; Obtaining the coordinates of glass defects detected by the vertical glass detection device; According to the coordinates of the glass defect, calculate the angles that the two motors need to rotate respectively; The current angle of the motor is obtained, and the actual rotation angle of the motor is obtained based on the required rotation angle and the current angle. The detection terminal sends instructions to the motor to control the motor rotation so that the two laser emitters are simultaneously aimed at the glass defect position.

9. The vertical glass defect locating method according to claim 8, characterized in that: The method also includes: The detection terminal controls the two laser transmitters to initially shoot vertically toward the lower edge of the bracket panel and ensures that all motors and photoelectric sensors are in the starting position; Use the vertical glass inspection device to detect and record the location information of all defects on the glass; According to the recorded glass defect coordinates, the angle that each motor needs to rotate is calculated, and the angle value of the motor's current position is determined; Create a motor control process. The motor control process controls the direction and number of steps of the motor according to the difference between the required rotation angle and the current angle. If the direction of rotation is forward, the motor control process is started and the motor rotates clockwise according to the calculated number of steps; If the direction of movement is reverse, the motor control process is started, first rotating counterclockwise to the reset point, and then rotating clockwise from the starting point of the step counting to the target position; After reaching the position, update the position coordinates of the motor.

10. The vertical glass defect locating method according to claim 8, characterized in that: The method further includes: controlling two laser emitters to initially shoot vertically toward the lower edge of the bracket panel to obtain the coordinates of the glass defect detected by the vertical glass detection device; According to the coordinates of the glass defect, calculate the angles that the two motors need to rotate respectively; Get the current angle of the first motor. Let the current angle be Ac and the required rotation angle be Ad. Calculate the difference dA = Ad - Ac. Get the current angle of the second motor as Bc, the required rotation angle is Bd, and calculate the difference dB = Bd-Bc; The detection terminal creates two motor control processes, one to control the first motor and the other to control the second motor: If dA≥0, dB≥0, the first motor control process controls the first motor to rotate in the specified direction for a number of steps related to dA; the second motor control process controls the second motor to rotate in the specified direction for a number of steps related to dB; If dA≥0, dB<0, the first motor control process controls the first motor to rotate in the specified direction for the number of steps associated with dA; the second motor control process controls the second motor to rotate in the reverse direction to reset to the preset origin position, and then rotate forward to the step counting origin position to start step counting, and rotate in the specified direction from the step counting origin for the number of steps associated with Bd; If dA<0, dB≥0, the first motor control process controls the first motor to rotate in the reverse direction to reset to the preset origin position, and then rotate forward to the step counting origin position to start step counting, and rotates in the specified direction from the step counting origin for the number of steps related to Ad; the second motor control process controls the second motor to rotate in the specified direction for the number of steps related to dB; If dA<0, dB<0, the first motor control process controls the first motor to rotate in the reverse direction to the preset origin position, and then rotate forward to the step counting origin position to start step counting, and rotate in the specified direction from the step counting origin position for the number of steps related to Ad; The second motor control process controls the second motor to rotate in the reverse direction to the preset origin position, and then rotate forward to the step counting origin position to start step counting, and rotate the number of steps related to Bd in the specified direction starting from the step counting origin; After the detection terminal completes the execution of the current motor control process, it waits for the next motor control process.

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