Method, system, electronic device and storage medium for controlling glass substrate biasing

Abstract

The application provides a glass substrate bias control method and system, electronic equipment and storage medium, relates to the glass substrate carrying technical field, through the case that the transplanting mechanism adsorbs glass substrate and moves to the target detection position, the light quantity data is detected simultaneously by using at least two angle detection units, the first and second light quantity data are extracted, and the online bias angle of the glass substrate is calculated by combining the fixed inclination angle and the horizontal installation distance. Finally, automatic compensation control is carried out according to the online bias angle, a control instruction is generated to drive the transplanting mechanism, so that the problem that the glass substrate bias angle cannot be measured online in the prior art is solved, real-time detection and correction of the glass substrate posture are realized, the glass substrate bias angle can be detected online in real time, and automatic compensation control is carried out, so that the transplanting precision and production efficiency are improved.

Description

Technical Field

[0001] This application relates to the field of glass substrate handling technology, and more specifically, to a method, system, electronic device, and storage medium for controlling the bias of a glass substrate. Background Technology

[0002] In the manufacturing process of new display panels (such as LCD and OLED), in the field of new displays, the higher the generation, the larger the area (i.e., size) of the glass substrate. For example, the size of a G8.6 glass substrate is 2290mm × 2620mm; the size of a G10.5 / 11 glass substrate is 2940mm × 3370mm. These large-sized glass substrates are characterized by large area, thin thickness, and fragility. These glass substrates need to be frequently transferred (i.e., handled, positioned, and placed) between different process equipment. Existing technologies have the following defects and shortcomings: the offset angle cannot be measured online: existing equipment usually relies only on origin switches and servo motor encoders for position control, lacking direct means to measure the actual posture of the glass substrate (especially the in-plane offset angle); when the glass substrate itself has an offset, it cannot be detected and compensated in time.

[0003] There is currently no effective technical solution to the above problems. Summary of the Invention

[0004] The purpose of this application is to provide a method, system, electronic device and storage medium for controlling the bias of a glass substrate, which can detect the bias angle of the glass substrate online and perform automatic compensation control to improve the transfer accuracy and production efficiency.

[0005] In a first aspect, this application provides a method for controlling the bias of a glass substrate, including: When the glass substrate adsorbed by the transplanting mechanism moves to the target detection position, synchronous detection is performed by at least two angle detection units set in the transplanting mechanism to obtain the light quantity detection data corresponding to each angle detection unit. Extract the first light quantity detection data corresponding to the first angle detection unit and the second light quantity detection data corresponding to the second angle detection unit from the light quantity detection data corresponding to each angle detection unit; Based on the first light intensity detection data and the second light intensity detection data, combined with the preset fixed tilt angle and the horizontal installation distance between the first angle detection unit and the second angle detection unit, the online bias angle corresponding to the glass substrate is calculated, and the fixed tilt angle is the fixed angle between the sensor optical axis of the angle detection unit and the vertical direction. Automatic compensation control is performed based on the online offset angle to obtain the control command corresponding to the transfer mechanism; the control command is used to drive the transfer mechanism to transfer the glass substrate to the station corresponding to the target detection position.

[0006] The above solution enables online real-time detection of the offset angle of the glass substrate and automatic compensation control, thereby improving transplanting accuracy and production efficiency.

[0007] Optionally, when the glass substrate adsorbed by the transplanting mechanism moves to the target detection position, synchronous detection is performed by at least two angle detection units provided in the transplanting mechanism to obtain the light intensity detection data corresponding to each angle detection unit, including: When the transplanting mechanism adsorbs the glass substrate and moves it to the target detection position, a trigger signal is sent to the synchronous detection unit of the transplanting mechanism. The trigger signal is used to trigger at least two of the angle detection units in the synchronous detection unit to perform synchronous measurement. Each angle detection unit includes a light intensity detection sensor. Based on the light received signal corresponding to the light intensity detection sensor in each angle detection unit, the light intensity detection data corresponding to each angle detection unit is determined.

[0008] The above scheme enables synchronous measurement by controlling the angle detection unit through a trigger signal, ensuring the accuracy and real-time nature of the measurement data.

[0009] Optionally, the step of calculating the online offset angle corresponding to the glass substrate based on the first light intensity detection data and the second light intensity detection data, combined with a preset fixed tilt angle and the horizontal installation distance between the first angle detection unit and the second angle detection unit, includes: Determine the horizontal installation distance between the first angle detection unit and the second angle detection unit; The fixed tilt angle is determined based on the fixed tilt angle of the sensor optical axis of each angle detection unit relative to the vertical direction; Based on a fixed tilt angle, the first light intensity detection data and the second light intensity detection data are used to calculate the slant distance, and the slant distance difference information corresponding to the first light intensity detection data and the second light intensity detection data is obtained. Based on the slant distance difference information, the offset angle of the glass substrate is calculated by combining the horizontal installation distance, and the online offset angle corresponding to the glass substrate is obtained.

[0010] The above method enables the accurate online bias angle of the glass substrate through slant distance calculation and bias angle calculation.

[0011] Optionally, the step of calculating the slope distance based on a fixed tilt angle using the first light intensity detection data and the second light intensity detection data to obtain the slope distance difference information corresponding to the first light intensity detection data and the second light intensity detection data includes: Based on the first light intensity detection data, the first distance corresponding to the first light intensity detection data is determined using the preset light intensity distance calibration information corresponding to the first angle detection unit. Based on the second light intensity detection data, the second distance corresponding to the second light intensity detection data is determined using the preset light intensity distance calibration information corresponding to the second angle detection unit. The target distance difference is obtained by using the difference between the first distance and the second distance, combined with the fixed tilt angle, to calculate the slant distance. The target distance difference is determined as the slant distance difference information.

[0012] Optionally, the automatic compensation control based on the online offset angle to obtain the control command corresponding to the transplanting mechanism includes: If the line offset angle is greater than a preset offset angle threshold, detect whether the line offset angle is within the preset error range corresponding to the transplanting mechanism; If the online offset angle is within the error range, then based on the online offset angle and combined with the preset offset angle reference value corresponding to the transplanting mechanism, attitude compensation processing is performed to obtain the attitude compensation information corresponding to the transplanting mechanism. The control command is generated based on the attitude compensation information.

[0013] Optionally, the step of automatically compensating for the transplanting mechanism based on the online offset angle to obtain the corresponding control command further includes: Determine whether the online offset angle is greater than a preset offset angle threshold; Under the condition that the online offset angle is not greater than the preset offset angle threshold, the target station information corresponding to the target detection position is obtained; The control command is generated using the target workstation information.

[0014] Optionally, the control command includes a stop operation command for the transplanting mechanism, the stop operation command being used to control the transplanting mechanism to stop operating. The step of automatically compensating for the online offset angle to obtain the control command corresponding to the transplanting mechanism further includes: If the online offset angle exceeds the error range, a stop operation command for the transplanting mechanism is generated based on the online offset angle, and the corresponding equipment alarm information for the transplanting mechanism is output based on the online offset angle.

[0015] Secondly, this application provides a control system for biasing a glass substrate, comprising: The detection module is used to perform synchronous detection through at least two angle detection units set in the transplanting mechanism when the glass substrate adsorbed by the transplanting mechanism moves to the target detection position, so as to obtain the light quantity detection data corresponding to each angle detection unit. The extraction module is used to extract the first light quantity detection data corresponding to the first angle detection unit and the second light quantity detection data corresponding to the second angle detection unit from the light quantity detection data corresponding to each angle detection unit. The calculation module is used to calculate the online bias angle corresponding to the glass substrate based on the first light intensity detection data and the second light intensity detection data, combined with a preset fixed tilt angle and the horizontal installation distance between the first angle detection unit and the second angle detection unit. The fixed tilt angle is the fixed angle between the sensor optical axis of the angle detection unit and the vertical direction. The control module is used to perform automatic compensation control based on the online offset angle to obtain control commands corresponding to the transfer mechanism; the control commands are used to drive the transfer mechanism to transfer the glass substrate to the station corresponding to the target detection position.

[0016] Thirdly, this application provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; When a processor executes a program stored in memory, it implements the steps in the glass substrate bias control method described in any of the preceding descriptions.

[0017] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the steps of the glass substrate bias control method as described in any of the preceding claims.

[0018] As can be seen from the above, the glass substrate bias control method provided in this application, when the glass substrate is moved to the target detection position by the transfer mechanism, uses at least two angle detection units to simultaneously detect light intensity data, extracts the first and second light intensity data, and calculates the online bias angle of the glass substrate by combining the fixed tilt angle and the horizontal installation distance. Finally, automatic compensation control is performed based on the online bias angle, and control commands are generated to drive the transfer mechanism. This solves the problem that the glass substrate bias angle cannot be measured online in the prior art, and realizes real-time detection and correction of the glass substrate posture. This application can detect the bias angle of the glass substrate online in real time and perform automatic compensation control, thereby improving the transfer accuracy and production efficiency.

[0019] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing embodiments of this application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings. Attached Figure Description

[0020] Figure 1 This is a flowchart illustrating the glass substrate bias control method provided in an embodiment of this application.

[0021] Figure 2 This is a schematic diagram of the control system for glass substrate biasing provided in an embodiment of this application.

[0022] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0023] Figure 4 This is a schematic diagram of the transplanting mechanism provided in an embodiment of this application.

[0024] Figure 5 This is a schematic diagram showing the position of the online offset angle provided in an embodiment of this application.

[0025] Labeling Explanation: 21. Detection Module; 22. Extraction Module; 23. Calculation Module; 24. Control Module; 111. Processor; 112. Communication Interface; 113. Memory; 114. Communication Bus; 120. Carbon Fiber Base; 121. Support Rod; 122. Angle Detection Unit; 123. Support Unit; 124. Glass Substrate; 125. First Detection Sensor; 126. Second Detection Sensor. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0027] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0028] In the manufacturing process of new display panels, the transfer operation of large-size glass substrates faces the technical problem that the actual posture of the glass substrate cannot be measured online. Existing technologies rely solely on origin switches and servo motor encoders for position control, lacking a direct means of measuring the in-plane deflection angle of the glass substrate. This results in the inability to promptly identify and compensate for any offset of the glass substrate, thereby affecting the transfer positioning accuracy and causing the positioning mechanism between the substrate and the target station to malfunction.

[0029] To address the aforementioned technical challenges, this application provides a method, system, electronic device, and storage medium for controlling the bias of a glass substrate, which can detect the bias angle of the glass substrate online and perform automatic compensation control, thereby improving transfer accuracy and production efficiency.

[0030] refer to Figure 1 This application provides a method for controlling the bias of a glass substrate, including: Step S1: When the glass substrate is moved to the target detection position by the transfer mechanism, synchronous detection is performed by at least two angle detection units set in the transfer mechanism to obtain the light quantity detection data corresponding to each angle detection unit. Step S2: Extract the first light quantity detection data corresponding to the first angle detection unit and the second light quantity detection data corresponding to the second angle detection unit from the light quantity detection data corresponding to each angle detection unit. Step S3: Based on the first light intensity detection data and the second light intensity detection data, combined with the preset fixed tilt angle and the horizontal installation distance between the first angle detection unit and the second angle detection unit, the online bias angle corresponding to the glass substrate is calculated to obtain the fixed tilt angle. The fixed tilt angle is the fixed angle between the sensor optical axis of the angle detection unit and the vertical direction. Step S4: Automatic compensation control is performed based on the online offset angle to obtain the control command corresponding to the transfer mechanism; the control command is used to drive the transfer mechanism to transfer the glass substrate to the station corresponding to the target detection position.

[0031] The transfer mechanism refers to a mechanical device used in an automated production line to grip, transport, and place workpieces (such as glass substrates). For example, the transfer mechanism includes a carbon fiber base 120, such as... Figure 4As shown, the carbon fiber base 120 has multiple support rods 121 spaced apart along its length. Each support rod 121 is equipped with a sensor assembly and a vacuum suction cup, which is used to adsorb the glass substrate 124. The sensor assembly includes at least two angle detection units 122, which are used to detect light intensity. The two angle detection units 122 are set at a preset distance, i.e., there is a horizontal installation distance between them. The sensor optical axis of each angle detection unit 122 has a fixed angle with the vertical direction, i.e., a fixed tilt angle. The carbon fiber base 120 is a square tube made of carbon fiber composite material and can be connected to a transplanting robot or a linear module drive. To detect whether the glass substrate 124 is picked up by the vacuum suction cup, the sensor assembly further includes two first detection sensors 125, which are respectively mounted on the two support rods 121. Furthermore, to detect whether the glass substrate 124 has lateral displacement, the sensor assembly also includes two second detection sensors 126, which are respectively mounted on the two support rods 121 and used to detect the relative position of the edge of the glass substrate 124 with a preset reference object. In addition, to prevent the glass substrate 124 from bending and deforming due to its own weight during handling, multiple support units 123 are provided on each support rod 121 to support the glass substrate 124.

[0032] An angle detection unit is capable of converting the received light quantity into an electrical signal related to the distance to the object's surface. For example, an angle detection unit can be a fiber optic sensor.

[0033] The fixed tilt angle refers to the preset fixed angle between the sensor optical axis of the angle detection unit and the vertical direction, which is determined during equipment installation.

[0034] The horizontal installation distance D refers to the horizontal installation distance between two or more angle detection units on the transplanting mechanism. The online offset angle refers to the actual deflection angle of the glass substrate in the direction in which the angle detection units are arranged, i.e. Figure 5 θ in the equation.

[0035] This application proposes a method for controlling the bias of a glass substrate, which aims to solve the problem that the bias angle cannot be measured online during the transfer of large-size glass substrates, and that the actual bias posture of the glass substrate cannot be detected and compensated in a timely manner.

[0036] This method involves simultaneously detecting the light intensity of a glass substrate as it is moved to the target detection position by a transfer mechanism using at least two angle detection units within the transfer mechanism. The aim of this step is to obtain real-time attitude information of the glass substrate at the target detection position. For example, the transfer mechanism can transport the glass substrate to a preset detection area where the angle detection units are activated for measurement. This detection can be performed after the glass substrate has completely stopped moving, or while the glass substrate is passing through the detection area at a low speed, to accommodate different production cycle requirements. This ensures that accurate raw data is available when offset angle calculations are required.

[0037] From the light intensity detection data corresponding to each angle detection unit, the first light intensity detection data corresponding to the first angle detection unit and the second light intensity detection data corresponding to the second angle detection unit are extracted. The purpose of this step is to select specific data pairs for calculating the bias angle from the data of multiple detection units. For example, if three angle detection units are installed on the transplanting mechanism, data from any two units (e.g., the first and second units, or the first and third units, or the second and third units) can be selected for subsequent calculations. This flexibility of selection allows the method to adapt to configurations with different numbers of angle detection units and to select the optimal combination of detection units according to the actual situation to improve the accuracy or robustness of the calculation.

[0038] Based on the first and second light intensity detection data, combined with a preset fixed tilt angle and the horizontal installation distance between the first and second angle detection units, calculations are performed to convert the light intensity detection data into an actual physical bias angle, thus obtaining the online bias angle corresponding to the glass substrate. For example, based on the angle sensitivity of reflective fiber optic sensors, and taking advantage of the fact that the amount of light received by the reflective fiber optic sensor changes drastically with the surface tilt angle, light intensity detection data is generated by detecting the amount of light received by the reflective fiber optic sensor. This data can then be converted into an actual physical bias angle based on preset light intensity distance calibration information corresponding to the reflective fiber optic sensor. The light intensity distance calibration information can refer to information pre-defined based on the mapping relationship between received light intensity and distance, such as a light intensity-distance calibration curve or a lookup table, specifically used to determine the pre-calibrated mapping relationship between light intensity and distance. By pre-calibrating the mapping relationship between light intensity and distance, the light intensity received by the first and second angle detection units can be converted into a first distance L1 and a second distance L2 from the sensor to the glass surface, respectively. Then, based on the target distance difference ΔL = L1 - L2 between the two sensors and the surface of the glass substrate, combined with the fixed tilt angle of the sensor optical axis relative to the vertical direction... Slope distance calculation is performed to obtain the slope distance difference information, i.e. Furthermore, considering the horizontal installation distance D between the two angle detection units, the preset offset angle formula can be used. The online bias angle of the glass substrate in the sensor arrangement direction is calculated, where, Where D is the online offset angle and D is the horizontal installation distance. The difference in distance to the target. To fix the tilt angle, this calculation process enables online measurement of the glass substrate's bias angle, overcoming the limitation of traditional methods that cannot directly obtain the actual bias attitude.

[0039] Automatic compensation control is performed based on the online offset angle to obtain the corresponding control command for the transfer mechanism. This control command drives the transfer mechanism to transfer the glass substrate to the station corresponding to the target detection position. The purpose of this step is to adjust the transfer mechanism according to the calculated offset angle to correct the posture of the glass substrate. For example, if the calculated online offset angle indicates that the glass substrate has a certain deflection, a corresponding posture compensation command can be generated based on this angle and sent to the robot controller of the transfer mechanism. After receiving the command, the robot controller adjusts the end effector angle of the robot arm to perform posture compensation when placing the glass substrate, ensuring that the glass substrate can be accurately placed on the target station. This automatic compensation mechanism makes the transfer process more accurate and reliable, reducing placement errors caused by glass substrate offset.

[0040] The glass substrate bias control method of this application integrates an angle detection unit into the transfer mechanism, enabling online measurement of the glass substrate bias angle. Compared to traditional methods that rely solely on origin switches and servo motor encoders for position control, this application directly acquires the actual posture information of the glass substrate. By combining light intensity detection data, a fixed tilt angle, and a horizontal installation distance, the online bias angle of the glass substrate is calculated, thus solving the problem that traditional methods cannot detect and compensate for glass substrate bias in a timely manner. Furthermore, automatic compensation control based on the measured online bias angle allows the transfer mechanism to adjust its posture according to the actual bias of the glass substrate, significantly improving the accuracy and reliability of glass substrate transfer. This method not only avoids placement errors and potential damage caused by bias but also enhances the automation level and production efficiency of the entire transfer process through online detection and automatic compensation.

[0041] In some embodiments, when the glass substrate adsorbed by the transplanting mechanism moves to the target detection position, synchronous detection is performed by at least two angle detection units provided in the transplanting mechanism to obtain light quantity detection data corresponding to each angle detection unit. This includes: when the glass substrate adsorbed by the transplanting mechanism moves to the target detection position, sending a trigger signal to the synchronous detection unit of the transplanting mechanism, the trigger signal being used to trigger at least two angle detection units in the synchronous detection unit to perform synchronous measurement, each angle detection unit including a light quantity detection sensor; and determining the light quantity detection data corresponding to each angle detection unit based on the light quantity receiving signal corresponding to the light quantity detection sensor in each angle detection unit.

[0042] The core of each angle detection unit is a light intensity detection sensor, which can be a reflective fiber optic sensor, but this application does not impose any specific restrictions on it.

[0043] Once the transfer mechanism has moved the glass substrate into position, it sends a trigger signal to the synchronous detection unit. This trigger signal activates multiple angle detection units to perform synchronous measurements, ensuring that all participating angle detection units complete their measurements at the same time. This avoids errors caused by shifts in glass position due to different detection times. Then, based on the light intensity received signal from the light intensity sensor in each angle detection unit, the corresponding light intensity detection data for each unit is determined. This ensures that the detection data of each unit accurately corresponds to the unit itself, avoiding data confusion and misalignment. The resulting synchronized and accurate raw detection data provides reliable and accurate input for subsequent data extraction from the target detection unit to calculate the offset angle, guaranteeing the accuracy of the final offset angle calculation. This scheme ensures high-precision, high-reliability raw light intensity detection data before calculating the online offset angle of the glass substrate, laying a solid foundation for subsequent offset angle calculation and automatic compensation control, significantly improving the accuracy and stability of the entire control method.

[0044] Through the above technical solution, this application effectively solves the problems of inaccurate raw detection data and mismatch between detection data and detection units caused by unclear detection procedures in existing technologies. By introducing a clear triggering mechanism and synchronous measurement, it ensures that all angle detection units are measured at the same time, avoiding measurement errors introduced by time differences. At the same time, by configuring a light intensity detection sensor for each angle detection unit, the accuracy and correspondence of the detection data are guaranteed.

[0045] In some embodiments, the online offset angle corresponding to the glass substrate is calculated based on the first light intensity detection data and the second light intensity detection data, combined with a preset fixed tilt angle and the horizontal installation distance between the first angle detection unit and the second angle detection unit. This includes: determining the horizontal installation distance between the first angle detection unit and the second angle detection unit; determining a fixed tilt angle based on the fixed tilt angle of the sensor optical axis of each angle detection unit relative to the vertical direction; calculating the slant distance based on the fixed tilt angle using the first light intensity detection data and the second light intensity detection data to obtain the slant distance difference information corresponding to the first light intensity detection data and the second light intensity detection data; and calculating the offset angle of the glass substrate based on the slant distance difference information and the horizontal installation distance to obtain the online offset angle corresponding to the glass substrate.

[0046] The horizontal installation distance D between the first angle detection unit and the second angle detection unit refers to the fixed horizontal distance between them during installation. This is a predetermined physical quantity that reflects the relative position of the sensors in space. This distance can be set and measured during the equipment design and manufacturing stage through precise machining and assembly, and stored as a system parameter. Based on the fixed tilt angle of the sensor optical axis of each angle detection unit relative to the vertical direction, the fixed tilt angle α is determined to be the fixed angle formed by the sensor optical axis of each angle detection unit and the vertical direction (e.g., the direction perpendicular to the surface of the glass substrate). This angle is an inherent property of the sensor during installation, and for reflective sensors, it determines the geometric relationship between the incident and reflected light beams.

[0047] Based on a fixed tilt angle α, the slant distance is calculated using first and second light quantity detection data to obtain the slant distance difference information corresponding to the first and second light quantity detection data. This aims to convert the light quantity information detected by the sensor into a distance difference reflecting the offset state of the glass substrate, i.e., the slant distance difference. This is a crucial intermediate step from the raw light quantity data to the final offset angle calculation. This process can use pre-established light quantity-distance calibration information (i.e., light quantity-distance calibration curves or lookup tables) to convert the first and second light quantity detection data into corresponding first distances L1 and L2, respectively. Then, the difference between L1 and L2 is calculated, i.e., the target distance difference ΔL = L1 - L2. The slant distance is calculated by combining the fixed tilt angle α and the target distance difference, and the calculation result is determined as the slant distance difference information.

[0048] Based on the slant distance difference information, the offset angle of the glass substrate is calculated in conjunction with the horizontal mounting distance D, according to the preset offset angle calculation formula. It uses geometric relationships to combine the slant distance difference, horizontal installation distance, and fixed tilt angle to calculate the online offset angle θ corresponding to the glass substrate.

[0049] Specifically, by pre-determining the horizontal installation distance D and the fixed tilt angle α, a solid foundation of parameters is provided for subsequent geometric calculations. Based on the light intensity detection data, the tilt distance is calculated to obtain tilt distance difference information, achieving an accurate conversion from the original light signal to the physical distance difference. This tilt distance difference information directly reflects the offset state of the glass substrate. Finally, using a preset online offset angle formula, these parameters are comprehensively calculated to obtain the online offset angle, ensuring the accuracy and reliability of the calculation results. Combined with the basic scheme, this scheme can provide a high-precision, high-reliability online offset angle value after acquiring the light intensity detection data. This provides accurate data support for the subsequent automatic compensation control of the transplanting mechanism based on the online offset angle, thereby significantly improving the positioning accuracy and placement accuracy of glass substrate transplantation, effectively avoiding damage or positioning deviations to the glass substrate caused by offset. Its value is particularly prominent in the manufacturing and handling of large-size, high-value glass substrates.

[0050] In some implementations, based on a fixed tilt angle, the slope distance is calculated using first light intensity detection data and second light intensity detection data to obtain the slope distance difference information corresponding to the first light intensity detection data and the second light intensity detection data. This includes: determining a first distance corresponding to the first light intensity detection data based on the first light intensity detection data and using preset light intensity distance calibration information corresponding to the first angle detection unit; and determining a second distance corresponding to the second light intensity detection data based on the second light intensity detection data and using preset light intensity distance calibration information corresponding to the second angle detection unit. The target distance difference is obtained by using the difference between the first distance and the second distance, combined with a fixed tilt angle, to calculate the slant distance. The target distance difference is determined as slant range difference information.

[0051] The light intensity-distance calibration information is a data structure pre-existing in the system memory, such as a lookup table or a calibration curve. Each sensor in the angle detection unit undergoes corresponding offline calibration, thus obtaining the corresponding "light intensity-distance" mapping relationship, i.e., the light intensity-distance calibration information.

[0052] Specifically, after acquiring the first and second light intensity detection data, the system utilizes the preset light intensity distance calibration information of each of the first and second angle detection units. By inputting the first light intensity detection data into the calibration information corresponding to the first angle detection unit, the first distance L1 from the first angle detection unit to the glass substrate surface can be accurately determined. Similarly, by inputting the second light intensity detection data into the calibration information corresponding to the second angle detection unit, the second distance L2 from the second angle detection unit to the glass substrate surface can be determined. This method of calibrating each angle detection unit individually and using its corresponding calibration information effectively eliminates distance calculation errors caused by installation performance deviations or individual differences of a single sensor, thereby ensuring the accuracy of the calculation of the first distance L1 and the second distance L2. Subsequently, the difference ΔL between the first distance L1 and the second distance L2 is calculated, which reflects the height difference of the glass substrate at the two detection points. Based on this, combined with a preset fixed tilt angle α, the slope distance is calculated from this difference to obtain the target distance difference. By combining the calculation with a fixed tilt angle α, the calculated target distance difference is determined as the tilt distance difference information and output for subsequent online offset angle calculation of the glass substrate.

[0053] By individually pre-setting optical distance calibration information for each angle detection unit, potential performance differences and installation deviations of individual sensors are effectively compensated, thus ensuring the calculation accuracy of the first distance L1 and the second distance L2. Furthermore, the difference between these two distances is combined with a fixed tilt angle α for calculation, ensuring that the obtained slope distance difference information is geometrically consistent with the offset angle calculation formula, guaranteeing the accuracy of subsequent offset angle calculations. This directly solves the problem in traditional methods where optical data cannot be directly used for slope distance calculation, leading to inaccurate offset angle detection. It significantly improves the reliability and accuracy of online offset angle detection for glass substrates, providing a solid technical foundation for the precise transfer and positioning of large-size, thin glass substrates.

[0054] In some implementations, automatic compensation control is performed based on the online offset angle to obtain control commands corresponding to the transplanting mechanism. This includes: if the online offset angle is greater than a preset offset angle threshold, detecting whether the online offset angle is within a preset error range corresponding to the transplanting mechanism; if the online offset angle is within the error range, then performing attitude compensation processing based on the online offset angle and combined with a preset offset angle reference value corresponding to the transplanting mechanism to obtain attitude compensation information corresponding to the transplanting mechanism; and generating control commands based on the attitude compensation information.

[0055] The preset offset angle threshold is a pre-defined angle limit value set by the system to distinguish the degree of offset of the glass substrate. When the online offset angle exceeds this threshold, it indicates that the offset degree has reached a level that requires further judgment and processing. This threshold can be set according to actual production process requirements, equipment accuracy, and acceptable error range. For example, it can be set to 0.05° or 0.1°, or it can be optimized and adjusted based on empirical values ​​or experimental data.

[0056] Attitude compensation processing is a process that calculates the amount and direction of attitude adjustment required by the transfer mechanism based on the actual online offset angle of the glass substrate. Its purpose is to enable the transfer mechanism to precisely adjust the attitude of its end effector to counteract the offset of the glass substrate, ensuring that the glass substrate is placed in the correct attitude. The preset offset angle reference value refers to the ideal reference angle value of the glass substrate on the transfer mechanism under ideal conditions or after calibration. This offset angle reference value can be predetermined during equipment installation.

[0057] This application's solution, by classifying and differentiating online offset angles of varying sizes, can ensure glass substrate transfer accuracy and production quality while avoiding unnecessary downtime, thus balancing production efficiency and safety. First, it determines whether the online offset angle exceeds a preset offset angle threshold, performing an initial screening. Only offsets exceeding the allowable basic deviation enter the classification process, avoiding complex judgments for all offsets and consuming computational resources, thereby improving the overall efficiency of offset processing. Based on this, it further determines whether the offset is within a compensable error range. When the online offset angle is determined to be within the error range, attitude compensation is performed based on the actually measured online offset angle, combined with the preset offset angle reference value corresponding to the transfer mechanism, to obtain attitude compensation information. This ensures that the compensation result is adapted to the characteristics of the transfer mechanism, obtaining accurate attitude compensation information and avoiding problems of under-compensation or over-compensation. Control commands are generated based on attitude compensation information and sent to the transplanting mechanism. The transplanting mechanism responds to the control commands and completes attitude compensation according to the carried attitude compensation information. The actual compensation information directly drives the transplanting mechanism to complete the adjustment, which can realize automatic correction of the offset without manual intervention. When the offset is correctable, the compensation is completed directly without stopping the machine, ensuring the continuity of production and effectively improving production efficiency.

[0058] In some implementations, automatic compensation control is performed based on the online offset angle to obtain control commands corresponding to the transplanting mechanism. This also includes: determining whether the online offset angle is greater than a preset offset angle threshold; if the online offset angle is not greater than the preset offset angle threshold, obtaining target station information corresponding to the target detection position; and generating control commands using the target station information.

[0059] This solution introduces the determination of the online offset angle and, for scenarios where the offset angle is within an acceptable range, directly generates control commands based on the target station information, avoiding unnecessary attitude compensation calculations and adjustments. Specifically, after the transfer mechanism moves the glass substrate to the target detection position, it performs synchronous detection through at least two angle detection units to obtain the light intensity detection data corresponding to each angle detection unit, and calculates the online offset angle of the glass substrate based on this data. Subsequently, this online offset angle is compared with a preset offset angle threshold. If the online offset angle is not greater than the preset offset angle threshold, that is, the offset degree of the glass substrate is within an acceptable accuracy range, no additional attitude compensation is required. At this time, the control system directly obtains the target station information corresponding to the target detection position. This target station information contains the precise position and attitude data where the glass substrate should ultimately be placed. Based on this target station information, the control system generates corresponding control commands and sends them to the transfer mechanism. Upon receiving and responding to this control command, the transfer mechanism directly drives its actuators, such as controlling the transfer mechanism to descend and precisely place the glass substrate onto the target station using a vacuum suction cup. After placement, the vacuum is released, and the transfer mechanism returns to the standby position, thus completing the precise transport of the glass substrate. This allows for rapid and efficient transfer operations when the glass substrate offset meets the accuracy requirements, significantly improving the overall efficiency of the transfer operation while ensuring the placement accuracy of the glass substrate.

[0060] This solution achieves intelligent triage for different offset conditions by introducing a judgment between the online offset angle and a preset threshold into the automatic compensation control process. When the online offset angle is not greater than the preset threshold, the system can directly obtain the target station information and generate control commands, thereby driving the transfer mechanism to directly transfer the glass substrate to the target station, avoiding unnecessary attitude compensation calculations and adjustments. This not only significantly reduces the time spent on transfer operations and improves overall work efficiency, but also optimizes the control process while ensuring the accuracy of the glass substrate transfer position, making the equipment operation more efficient and economical.

[0061] In some implementations, the control command includes a stop operation command for the transplanting mechanism, which is used to control the transplanting mechanism to stop operating. Automatic compensation control is performed based on the online offset angle to obtain the control command corresponding to the transplanting mechanism. It also includes: if the online offset angle exceeds the error range, generating a stop operation command for the transplanting mechanism based on the online offset angle, and outputting equipment alarm information corresponding to the transplanting mechanism based on the online offset angle.

[0062] In this application, during the glass substrate transfer process, after the glass substrate is moved to the target detection position by the transfer mechanism, at least two angle detection units simultaneously detect and acquire the online offset angle of the glass substrate. Based on this, to address the abnormal situation of excessively large glass substrate offset angles, this solution further improves the automatic compensation control process. When performing automatic compensation control based on the online offset angle, it first determines whether the online offset angle exceeds the preset compensable error range of the transfer mechanism. If the absolute value of the online offset angle is greater than the upper limit of the preset error range (e.g., 0.1°), it indicates that the offset of the glass substrate has exceeded the range that the transfer mechanism can effectively correct through attitude compensation. In this case, to avoid glass substrate misalignment due to forced compensation, or even safety issues such as equipment breakage and damage, attitude compensation will not be attempted. Instead, based on the detected out-of-range online offset angle, it immediately generates a command specifically for controlling the transfer mechanism to stop operating and sends it to the transfer mechanism. Simultaneously, it also generates and outputs equipment alarm information based on the online offset angle, such as triggering an audible and visual alarm and displaying it on the host computer interface. This mechanism enables the timely identification and handling of large offset anomalies. The control commands pre-include stop instructions, allowing for rapid shutdown upon detection of out-of-tolerance conditions. This effectively prevents the risks associated with continuing transfer or compensation operations when the offset is too large. Equipment alarm outputs promptly inform operators of the anomaly and provide specific offset angle values, facilitating quick problem location and troubleshooting, thus shortening anomaly handling time and ensuring production safety. This process complements the attitude compensation logic within the error range in the preceding solution, together constructing a more comprehensive and secure glass substrate transfer control system that ensures the most appropriate response strategy is adopted under different offset levels.

[0063] This solution includes a stop command in the control instructions and generates and sends this command immediately when the online offset angle exceeds the tolerance. This allows for a timely and decisive halt to the transfer mechanism, avoiding the safety risks of glass substrate misalignment or even equipment breakage that could result from forced compensation under excessive offset conditions. Simultaneously, based on the online offset angle output device alarm information, operators are quickly notified of abnormalities, and specific offset data is provided, greatly facilitating troubleshooting and manual intervention, and shortening anomaly handling time. This makes the entire glass substrate transfer process safer and more reliable when facing large offset anomalies, effectively ensuring smooth production and the integrity of the equipment.

[0064] refer to Figure 2 This application provides a control system for biasing a glass substrate, comprising: The detection module 21 is used to perform synchronous detection through at least two angle detection units set in the transplanting mechanism when the glass substrate adsorbed by the transplanting mechanism moves to the target detection position, so as to obtain the light quantity detection data corresponding to each angle detection unit. Extraction module 22 is used to extract the first light quantity detection data corresponding to the first angle detection unit and the second light quantity detection data corresponding to the second angle detection unit from the light quantity detection data corresponding to each angle detection unit; The calculation module 23 is used to calculate the online bias angle corresponding to the glass substrate based on the first light intensity detection data and the second light intensity detection data, combined with the preset fixed tilt angle and the horizontal installation distance between the first angle detection unit and the second angle detection unit. The fixed tilt angle is the fixed angle between the sensor optical axis of the angle detection unit and the vertical direction. The control module 24 is used to perform automatic compensation control based on the online offset angle to obtain the control command corresponding to the transfer mechanism; the control command is used to drive the transfer mechanism to transfer the glass substrate to the station corresponding to the target detection position.

[0065] This embodiment combines the synchronous light intensity detection of the angle detection unit with various modules to achieve online real-time measurement of the glass substrate offset angle. Specifically, the detection module 21 triggers synchronous detection only when the transfer mechanism reaches the target detection position, avoiding unnecessary detection calculations and ensuring that the acquired light intensity data corresponds to the glass posture at the same moment, thereby eliminating errors caused by timing differences. The extraction module 22 selects data from two units from multiple detection units for processing, simplifying the calculation process and improving efficiency. The calculation module 23, based on the light intensity detection data, fixed tilt angle, and horizontal installation distance, calculates the offset angle according to a preset formula. The online offset angle is calculated precisely, where This is information about the slope distance difference. To fix the tilt angle, This is the horizontal installation distance. This calculation method can accurately obtain the offset angle without the need for additional high-precision sensing equipment. The control module 24 then generates compensation commands based on this online offset angle, driving the transplanting mechanism to adjust its posture and achieve automatic compensation.

[0066] Through the above technical solution, the system can monitor the bias state of the glass substrate online during the transfer process and compensate for bias when it is detected. For example, when the calculated online bias angle is within a preset range (e.g., 0.05° < |θ| ≤ 0.10°, but not limited to this), the control system automatically adjusts the posture of the transfer mechanism; if it exceeds the range (e.g., |θ| > 0.10°, but not limited to this), an alarm is triggered to prompt manual intervention. This not only significantly improves the transfer accuracy and reliability and reduces the risk of substrate damage, but also enhances the level of production automation and efficiency. Compared with traditional solutions that rely solely on encoders, this application directly obtains the actual posture information of the glass substrate, effectively solving the technical bottleneck of the inability to measure and compensate for bias online, and providing a reliable guarantee for the high-precision transfer of large-size glass substrates.

[0067] The glass substrate biasing control system provided in this application embodiment is used to execute the steps in the glass substrate biasing control method provided in the first aspect above. The principle of the glass substrate biasing control system provided in this embodiment is the same as that of the glass substrate biasing control method provided in the first aspect above, and will not be discussed in detail here.

[0068] refer to Figure 3 This application provides an electronic device, including a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112 and the memory 113 communicate with each other through the communication bus 114, and the memory 113 is used to store computer programs. In one embodiment of this application, the processor 111, when executing a program stored in a memory, implements the steps of the glass substrate bias control method of any of the first aspects.

[0069] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it performs the method in any optional implementation of the above embodiments to achieve the following functions: when the glass substrate is moved to the target detection position by the transfer mechanism, synchronous detection is performed by at least two angle detection units set in the transfer mechanism to obtain light quantity detection data corresponding to each angle detection unit; from the light quantity detection data corresponding to each angle detection unit, first light quantity detection data corresponding to the first angle detection unit and second light quantity detection data corresponding to the second angle detection unit are extracted; based on the first light quantity detection data and the second light quantity detection data, combined with a preset fixed tilt angle and the horizontal installation distance between the first angle detection unit and the second angle detection unit, the online bias angle corresponding to the glass substrate is calculated, where the fixed tilt angle is the fixed angle between the sensor optical axis of the angle detection unit and the vertical direction; automatic compensation control is performed according to the online bias angle to obtain the control command corresponding to the transfer mechanism; the control command is used to drive the transfer mechanism to transfer the glass substrate to the workstation corresponding to the target detection position. The computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0070] In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations.

[0071] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for controlling the bias of a glass substrate, characterized in that, include: When the glass substrate adsorbed by the transplanting mechanism moves to the target detection position, synchronous detection is performed by at least two angle detection units set in the transplanting mechanism to obtain the light quantity detection data corresponding to each angle detection unit. Extract the first light quantity detection data corresponding to the first angle detection unit and the second light quantity detection data corresponding to the second angle detection unit from the light quantity detection data corresponding to each angle detection unit; Based on the first light intensity detection data and the second light intensity detection data, combined with the preset fixed tilt angle and the horizontal installation distance between the first angle detection unit and the second angle detection unit, the online bias angle corresponding to the glass substrate is calculated, and the fixed tilt angle is the fixed angle between the sensor optical axis of the angle detection unit and the vertical direction. Automatic compensation control is performed based on the online offset angle to obtain the control command corresponding to the transfer mechanism; the control command is used to drive the transfer mechanism to transfer the glass substrate to the station corresponding to the target detection position; The calculation, based on the first light intensity detection data and the second light intensity detection data, combined with a preset fixed tilt angle and the horizontal installation distance between the first angle detection unit and the second angle detection unit, yields the online offset angle corresponding to the glass substrate, including: Determine the horizontal installation distance between the first angle detection unit and the second angle detection unit; The fixed tilt angle is determined based on the fixed tilt angle of the sensor optical axis of each angle detection unit relative to the vertical direction; Based on a fixed tilt angle, the first light intensity detection data and the second light intensity detection data are used to calculate the slant distance, and the slant distance difference information corresponding to the first light intensity detection data and the second light intensity detection data is obtained. Based on the slant distance difference information, the offset angle of the glass substrate is calculated by combining the horizontal installation distance, and the online offset angle corresponding to the glass substrate is obtained. The method of calculating the slope distance based on a fixed tilt angle using the first light intensity detection data and the second light intensity detection data to obtain the slope distance difference information corresponding to the first light intensity detection data and the second light intensity detection data includes: Based on the first light intensity detection data, the first distance corresponding to the first light intensity detection data is determined using the preset light intensity distance calibration information corresponding to the first angle detection unit. Based on the second light quantity detection data, the second distance corresponding to the second light quantity detection data is determined by using the preset light quantity distance calibration information corresponding to the second angle detection unit. The target distance difference is obtained by using the difference between the first distance and the second distance, combined with the fixed tilt angle, to calculate the slant distance. The target distance difference is determined as the slant distance difference information.

2. The method for controlling the bias of a glass substrate according to claim 1, characterized in that, When the glass substrate adsorbed by the transplanting mechanism moves to the target detection position, synchronous detection is performed by at least two angle detection units set in the transplanting mechanism to obtain the light intensity detection data corresponding to each angle detection unit, including: When the transplanting mechanism adsorbs the glass substrate and moves it to the target detection position, a trigger signal is sent to the synchronous detection unit of the transplanting mechanism. The trigger signal is used to trigger at least two of the angle detection units in the synchronous detection unit to perform synchronous measurement. Each angle detection unit includes a light intensity detection sensor. Based on the light received signal corresponding to the light intensity detection sensor in each angle detection unit, the light intensity detection data corresponding to each angle detection unit is determined.

3. The method for controlling the bias of a glass substrate according to claim 1, characterized in that, The automatic compensation control based on the online offset angle, to obtain the control command corresponding to the transplanting mechanism, includes: If the online offset angle is greater than a preset offset angle threshold, it is detected whether the online offset angle is within the preset error range corresponding to the transplanting mechanism; If the online offset angle is within the error range, then based on the online offset angle and combined with the preset offset angle reference value corresponding to the transplanting mechanism, attitude compensation processing is performed to obtain the attitude compensation information corresponding to the transplanting mechanism. The control command is generated based on the attitude compensation information.

4. The method for controlling the bias of a glass substrate according to claim 3, characterized in that, The automatic compensation control based on the online offset angle to obtain the control command corresponding to the transplanting mechanism further includes: Determine whether the online offset angle is greater than a preset offset angle threshold; If the online offset angle is not greater than the preset offset angle threshold, obtain the target station information corresponding to the target detection position; The control command is generated using the target workstation information.

5. The method for controlling the bias of a glass substrate according to claim 3, characterized in that, The control command includes a stop operation command for the transplanting mechanism, which is used to control the transplanting mechanism to stop operating. The step of obtaining the control command corresponding to the transplanting mechanism based on the online offset angle through automatic compensation control further includes: If the online offset angle exceeds the error range, a stop operation command for the transplanting mechanism is generated based on the online offset angle, and the corresponding equipment alarm information for the transplanting mechanism is output based on the online offset angle.

6. A control system for biasing a glass substrate, characterized in that, The control system is used to execute the glass substrate bias control method as described in any one of claims 1-5, the control system comprising: The detection module is used to perform synchronous detection through at least two angle detection units in the transplanting mechanism when the glass substrate adsorbed by the transplanting mechanism moves to the target detection position, and obtain the light quantity detection data corresponding to each angle detection unit. The extraction module is used to extract the first light quantity detection data corresponding to the first angle detection unit and the second light quantity detection data corresponding to the second angle detection unit from the light quantity detection data corresponding to each angle detection unit. The calculation module is used to calculate the online bias angle corresponding to the glass substrate based on the first light intensity detection data and the second light intensity detection data, combined with a preset fixed tilt angle and the horizontal installation distance between the first angle detection unit and the second angle detection unit. The fixed tilt angle is the fixed angle between the sensor optical axis of the angle detection unit and the vertical direction. The control module is used to perform automatic compensation control based on the online offset angle to obtain control commands corresponding to the transfer mechanism; the control commands are used to drive the transfer mechanism to transfer the glass substrate to the station corresponding to the target detection position.

7. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; The processor, when executing a program stored in memory, implements the steps of the glass substrate bias control method as described in any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it performs the steps of the glass substrate bias control method as described in any one of claims 1-5.

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