Dispensing control method, control system and control device for photovoltaic frame profile

Abstract

This disclosure discloses a method, control system, and control device for dispensing adhesive onto photovoltaic frame profiles, belonging to the field of photovoltaic manufacturing technology. The method for dispensing adhesive onto photovoltaic frame profiles includes: starting from an initial dispensing position, a dispensing unit dispensing adhesive along a first path to P dispensing holes of the photovoltaic frame profile and then reaching an end dispensing position. The first path covers the line connecting the center of the first dispensing hole, the center of the second dispensing hole, ..., the center of the i-th dispensing hole, ..., the center of the P-1 dispensing hole, and the center of the P-th dispensing hole; starting from the end dispensing position, the dispensing unit returns to the initial dispensing position along a second path. The second path covers at least one of the centers of the P-th dispensing hole, the P-1 dispensing hole, ..., the center of the i-th dispensing hole, ..., the center of the second dispensing hole, and the center of the first dispensing hole; or, the second path covers the line connecting the center of the P-th dispensing hole and the center of the first dispensing hole. This disclosure enables the dispensing of adhesive onto photovoltaic frame profiles.

Description

Technical Field

[0001] This disclosure belongs to the field of photovoltaic manufacturing technology, and specifically relates to a method, control system, and control device for controlling the dispensing of photovoltaic frame profiles. Background Technology

[0002] In existing technologies, photovoltaic (PV) frame profiles typically require adhesive dispensing (exemplarily, resin dispensing) during production to cover, plug, fill, or seal the dispensing holes. When there are multiple dispensing locations on the PV frame profile, improper dispensing path planning can easily lead to repetitive back-and-forth movements of the dispensing head and excessively long idle strokes, thereby prolonging the overall processing cycle, affecting the continuity and reliability of dispensing, reducing dispensing efficiency, and ultimately impacting the dispensing quality and automation level of the PV frame profile. Therefore, how to control or plan the dispensing path of PV frame profiles to maintain or improve dispensing efficiency has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0003] This disclosure proposes a method, control system, and control device for controlling the dispensing of photovoltaic frame profiles, aiming to at least solve the technical problems of how to plan the dispensing path for existing photovoltaic frame profiles. This disclosure enables dispensing path planning, achieving dispensing of photovoltaic frame profiles and maintaining or improving the automation level of the dispensing operation. To achieve the objectives of this disclosure, the technical solution is as follows: A method for controlling adhesive dispensing in photovoltaic frame profiles, comprising: Starting from the initial dispensing position, the dispensing unit dispenses adhesive to P dispensing holes of the photovoltaic frame profile along the first path until it reaches the end of the dispensing process. The first path covers the line connecting the centers of the 1st, 2nd, ..., i-th, ..., P-1th, and P-th dispensing holes, where i is a positive integer and P is a positive integer. <i<P; Starting from the end of the dispensing position, the dispensing unit returns to the initial dispensing position along the second path, the second path covering at least one of the centers of the Pth dispensing hole, the (P-1)th dispensing hole, ..., the ith dispensing hole, ..., the 2nd dispensing hole, and the line connecting the center of the 1st dispensing hole; or, the second path covers the line connecting the center of the Pth dispensing hole and the center of the 1st dispensing hole.

[0004] According to one aspect of the present disclosure, along the length direction and height direction of the photovoltaic frame profile, P dispensing holes are arranged in M ​​rows × N columns, where P = M × N, M > 1, N > 1, M is a positive integer, and N is a positive integer. The first path includes either a polygonal path or a combination of straight lines and curves; the second path includes either a polygonal path, a combination of straight lines and curves, or a straight path.

[0005] According to one aspect of the present disclosure, N dispensing holes in each row are arranged at equal intervals s, M dispensing holes in each column are arranged at equal intervals t, and the second path travel length is PL. When the initial and final positions of the dispensing are in the same column, the following conditions are met:

[0006] Alternatively, when the initial and final positions of the dispensing are in the same row, the following condition is met:

[0007] Alternatively, when the initial and final positions of the dispensing are in different rows and columns, the following condition is met: .

[0008] According to one aspect of the present disclosure, the photovoltaic frame profile is a composite material, preferably, the composite material includes glass fiber and polyurethane; and / or, 4≤P≤36; and / or, 2≤M≤6; and / or, 2≤N≤6; and / or, along the width direction of the photovoltaic frame profile, the dispensing hole penetrates through the sidewall of the photovoltaic frame profile; and / or, the adhesive at least partially fills the dispensing hole, the adhesive including resin.

[0009] According to one aspect of the present disclosure, when starting from the end position of the dispensing, it is determined whether some of the P dispensing holes need to be replenished with glue. If the glue replenishment is performed, the second path covers at least one of the centers of the Pth dispensing hole, the (P-1)th dispensing hole, ..., the ith dispensing hole, ..., the 2nd dispensing hole, and the line connecting the center of the 1st dispensing hole. If the glue replenishment is not performed, the second path covers the line connecting the center of the Pth dispensing hole and the center of the 1st dispensing hole.

[0010] A photovoltaic frame profile dispensing control system, comprising: Control unit, the control unit being configured to: The dispensing unit starts from the initial dispensing position and dispenses adhesive to P dispensing holes of the photovoltaic frame profile along a first path until it reaches the end of the dispensing process. The first path covers the line connecting the centers of the 1st, 2nd, ..., i-th, ..., P-1th, and P-th dispensing holes, where i is a positive integer and P is a positive integer. <i<P; The dispensing unit is controlled to start from the end of the dispensing position and return to the initial dispensing position along the second path. The second path covers at least one of the centers of the Pth dispensing hole, the (P-1)th dispensing hole, ..., the ith dispensing hole, ..., the 2nd dispensing hole, and the line connecting the center of the 1st dispensing hole; or, the second path covers the line connecting the center of the Pth dispensing hole and the center of the 1st dispensing hole.

[0011] According to one aspect of the present disclosure, when starting from the end position of the dispensing, it is determined whether some of the P dispensing holes need to be replenished with glue. If replenishment is performed, the second path covers at least one of the centers of the Pth dispensing hole, the (P-1)th dispensing hole, ..., the ith dispensing hole, ..., the 2nd dispensing hole, and the line connecting the center of the 1st dispensing hole. If replenishment is not performed, the second path covers the line connecting the center of the Pth dispensing hole and the center of the 1st dispensing hole. And / or, the first path includes or is a polygonal path or a combination of straight lines and curves. And / or, the second path includes or is a polygonal path, a combination of straight lines and curves, or a straight path.

[0012] According to one aspect of the present disclosure, along the length direction and the height direction of the photovoltaic frame profile, P dispensing holes are arranged in M ​​rows × N columns, where P = M × N, M > 1, N > 1, M is a positive integer, and N is a positive integer. The N dispensing holes in each row are arranged at equal intervals s, and the M dispensing holes in each column are arranged at equal intervals t. The second path travel length is PL. When the initial and final positions of the dispensing are in the same column, the following conditions are met:

[0013] Alternatively, when the initial and final positions of the dispensing are in the same row, the following condition is met:

[0014] Alternatively, when the initial and final positions of the dispensing are in different rows and columns, the following condition is met: .

[0015] A photovoltaic frame profile dispensing control device includes a processor and a memory. The memory stores a computer program. When the processor executes the computer program, it implements any of the above-described photovoltaic frame profile dispensing control methods.

[0016] A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, it implements any of the above-described photovoltaic frame profile dispensing control methods.

[0017] Compared to the prior art, the beneficial effects achieved by this disclosure are as follows: This disclosure controls the dispensing unit to sequentially dispense adhesive into each dispensing hole along a first path. After completing the dispensing operation corresponding to the first path, the dispensing unit or dispensing execution component is controlled to return to the initial dispensing position along a second path. The second path can be a return path formed by reverse tracing along the centers of multiple dispensing holes, or a straight return path connecting the center of the Pth dispensing hole and the center of the 1st dispensing hole. This ensures that the adhesive coverage, filling, and sealing process of each dispensing hole is orderly, continuous, and controllable. It allows for flexible selection between path reuse, adhesive replenishment requirements, or return efficiency based on actual process needs. It achieves coordinated cooperation between the adhesive supply unit, moving unit, control unit, and detection unit, maintaining or improving the automation level of the dispensing operation, maintaining or improving the accuracy of the dispensing operation, and providing better process adaptability. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only one or more embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the workflow of a photovoltaic frame profile dispensing control method according to an embodiment of the present disclosure; Figure 2 This is a schematic diagram of a photovoltaic frame profile with adhesive holes arranged in a 2-row × 2-column configuration according to an embodiment of the present disclosure. Figure 3 This is a schematic diagram illustrating the principle of generating a first path using a row scanning method according to an embodiment of the present disclosure; Figure 4 This is a schematic diagram of the structure for generating a first path using a column scanning method according to an embodiment of the present disclosure; Figure 5 This is a schematic diagram of a photovoltaic frame profile with adhesive holes arranged in a 3-row × 3-column configuration, according to another embodiment of the present disclosure. Figure 6 This is a schematic diagram illustrating the principle of generating a first path using a row scanning method according to another embodiment of this disclosure; Figure 7 This is a schematic diagram illustrating the principle of generating a first path using a row scanning method according to another embodiment of this disclosure; Figure 8 This is a schematic diagram of a photovoltaic frame profile with adhesive holes arranged in 3 rows × 4 columns, according to yet another embodiment of the present disclosure. Figure 9 This is a schematic diagram illustrating the principle of generating a first path by row scanning in yet another embodiment of this disclosure; Figure 10 This is a schematic diagram illustrating the principle of generating a first path by row scanning in yet another embodiment of this disclosure; The accompanying drawings are provided to further understand the present disclosure and form part of the specification. They are used together with the embodiments of the present disclosure to explain the present disclosure and do not constitute a limitation thereof. Detailed Implementation

[0020] The technical solutions of the present disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present disclosure, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present disclosure without creative effort are within the scope of protection of the present disclosure.

[0021] In the description of the embodiments of this disclosure, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this disclosure, "multiple" means one, two, or more, unless otherwise explicitly defined.

[0022] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this disclosure. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0023] In the description of the embodiments of this disclosure, technical terms such as "center," "longitudinal," "transverse," "length," "width," "wall thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this disclosure and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have or completely have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this disclosure.

[0024] In the description of the embodiments of this disclosure, unless otherwise expressly specified and limited, the technical terms "installation," "connection," "joining," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

[0025] In the accompanying drawings corresponding to the embodiments of this disclosure, the wall thickness and area of ​​the layers are enlarged for better understanding and ease of description. When describing a component on or on the surface of another component, the component may be "directly" located on the surface of the other component, or there may be a third component between the two components. Conversely, when describing a component on the surface of another component, or when another component is formed or disposed on the surface of a component, it indicates that there is no third component between the two components. Furthermore, when describing a component as being "generally" formed on another component, it means that the component is not formed on the entire surface (or front surface) of the other component, nor is it formed on a portion of the edge of the entire surface.

[0026] In the description of embodiments of this disclosure, when a component “includes” another component, other components are not excluded unless otherwise stated, and other components may be further included.

[0027] The terminology used in the description of the various embodiments herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used in the description of the various embodiments and the appended claims, the term "component" is also intended to include the plural form unless the context clearly indicates otherwise.

[0028] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been provided in the embodiments of this disclosure to facilitate a better understanding of the disclosure. However, the technical solutions claimed in this disclosure can be implemented even without these technical details and various variations and modifications based on the following embodiments.

[0029] Firstly, such as Figure 1 As shown, a method for controlling adhesive dispensing in photovoltaic frame profiles includes: Starting from the initial dispensing position, the dispensing unit dispenses adhesive to P dispensing holes of the photovoltaic frame profile along the first path until it reaches the end of the dispensing process. The first path covers the line connecting the centers of the 1st, 2nd, ..., i-th, ..., P-1th, and P-th dispensing holes, where i is a positive integer and P is a positive integer. <i<P; Starting from the end of the dispensing position, the dispensing unit returns to the initial dispensing position along the second path. The second path covers at least one of the centers of the Pth dispensing hole, the (P-1)th dispensing hole, ..., the ith dispensing hole, ..., the 2nd dispensing hole, and the line connecting the center of the 1st dispensing hole; or, the second path covers the line connecting the center of the Pth dispensing hole and the center of the 1st dispensing hole.

[0030] In some embodiments, the photovoltaic frame profile 10 includes a composite material or the photovoltaic frame profile is a composite photovoltaic frame profile. Preferably, the composite material includes glass fiber and polyurethane. Of course, the composite material can also be other types, and this disclosure does not limit it.

[0031] In some embodiments, a plurality of dispensing holes are formed at intervals along the length direction and / or height direction of the photovoltaic frame profile 10, namely P dispensing holes. The length direction of the photovoltaic frame profile is perpendicular to the height direction of the photovoltaic frame profile, and the width direction of the photovoltaic frame profile is perpendicular to both the length direction and the height direction of the photovoltaic frame profile. The length direction of the photovoltaic frame profile can be the X direction, the height direction of the photovoltaic frame profile can be the Z direction, and the width direction of the photovoltaic frame profile can be the Y direction (not shown). Preferably, the X direction, the Y direction, and the Z direction are perpendicular to each other.

[0032] In some embodiments, such as Figure 2 As shown, the photovoltaic frame profile 10 has an inner cavity 30 for corner bracket insertion. The inner cavity 30 is formed by a top wall 302, a bottom wall 303, and two side walls. Along the width direction of the photovoltaic frame profile, the two side walls include a left side wall 301 (located on the left) and a right side wall 301 (located on the right). The top wall 302 is located on the upper side of the inner cavity 30 and is used to support the photovoltaic laminate. The bottom wall 303 is located on the lower side of the inner cavity 30, and the left side wall 301 is located on the left side of the inner cavity 30. The right sidewall 301 is located on the right side of the inner cavity 30. The left sidewall 301 is connected to the top wall 302 and the bottom wall 303 to define the lateral boundary of the inner cavity 30. The right sidewall 301 is connected to the top wall 302 and the bottom wall 303 to define the lateral boundary of the inner cavity 30. When the corner bracket is inserted into the inner cavity 30, the corner bracket forms an assembly relationship with the top wall 302, the right sidewall 301, the bottom wall 303 and the left sidewall 301, which can then be used for splicing two adjacent photovoltaic frame profiles.

[0033] In some embodiments, preferably, the value of P is 4 ≤ P ≤ 36. For example, the value of P is 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, or a range or interval between any two values. Of course, P can also be other values, ranges, or intervals. The specific value or range of P can be set according to the length, height, corner code, dispensing hole distribution density, equipment processing cycle requirements, etc. of the photovoltaic frame profile 10 to achieve one or more combinations of dispensing coverage integrity, dispensing path planning, and dispensing operation efficiency. This disclosure does not specify such a combination.

[0034] In some embodiments, such as Figure 2 As shown, preferably, the dispensing hole 20 is a through-hole structure that penetrates the wall thickness direction of the photovoltaic frame profile 10. The cross-sectional shape of the dispensing hole 20 can be set as a funnel shape, a cone shape, or other structural forms that are conducive to filling and curing of the adhesive, depending on the actual dispensing process requirements. Along the width direction of the photovoltaic frame profile, the dispensing hole penetrates the side wall of the photovoltaic frame profile. The dispensing hole 20 is disposed on the side wall 301. Preferably, the dispensing hole 20 is disposed on the right side wall 301. The adhesive at least partially fills the dispensing hole 20. The adhesive includes or is resin, and the resin preferably includes... When the polyurethane resin corner bracket is inserted into the inner cavity 30, the corner bracket forms an assembly relationship with the left side wall 301, right side wall 301, top wall 302 and bottom wall 303. After the colloid enters through the dispensing hole 20, it can fall into and / or flow into the dispensing hole 20, thereby sealing the dispensing hole 20. The technical contents of dispensing hole formation, resin filling, photovoltaic frame profile and corner bracket assembly, etc. can be found in the existing patent application CN113411046A, which can also substantially constitute the contents of this disclosure. This disclosure will not elaborate further on these contents.

[0035] In some embodiments, the plurality of dispensing holes include or are the first dispensing hole, the second dispensing hole, …, the i-th dispensing hole, …, the (P-1)-th dispensing hole, and the P-th dispensing hole, where i is a positive integer and P is a positive integer and satisfies 1 < i < P. Exemplarily, the first dispensing hole, the second dispensing hole, …, the i-th dispensing hole, …, the (P-1)-th dispensing hole, and the P-th dispensing hole are spaced apart along the length direction of the photovoltaic frame profile. The first dispensing hole, the second dispensing hole, …, the i-th dispensing hole, …, the (P-1)-th dispensing hole, and the P-th dispensing hole can form an equally spaced or variably spaced linear arrangement; or, the first dispensing hole, the second dispensing hole, …, the i-th dispensing hole, …, the (P-1)-th dispensing hole, and the P-th dispensing hole are spaced apart along the height direction of the photovoltaic frame profile. Similarly, the first dispensing hole, the second dispensing hole, …, the i-th dispensing hole, …, the (P-1)-th dispensing hole, and the P-th dispensing hole can form an equally spaced or variably spaced linear arrangement; or, the first dispensing hole, the second dispensing hole, …, the i-th dispensing hole, …, the (P-1)-th dispensing hole, and the P-th dispensing hole are spaced apart along the length direction and the height direction of the photovoltaic frame profile. Similarly, the plurality of dispensing holes distributed along the length direction of the photovoltaic frame profile can form an equally spaced or variably spaced linear arrangement, and the plurality of dispensing holes distributed along the height direction of the photovoltaic frame profile can form an equally spaced or variably spaced linear arrangement. The aperture size, arrangement distribution, etc. of the dispensing holes can be set according to the size of the photovoltaic frame profile, corner brackets, etc. The present disclosure does not make a setting thereon.

[0036] In some embodiments, in the photovoltaic frame profile dispensing control method, a dispensing unit dispenses adhesive into the dispensing holes of the photovoltaic frame profile. The dispensing unit may include a dispensing execution component or other mechanisms capable of performing dispensing operations; these all fall within the scope of being or constituting the dispensing unit. It may also include a dispensing unit and a moving unit. The dispensing execution component is used to introduce and output adhesive to the corresponding dispensing position. The dispensing execution component includes a dispensing valve, a dispensing nozzle, and an outlet channel communicating with the dispensing valve. The dispensing nozzle is used for dispensing adhesive, and the dispensing valve may be an on / off valve that controls the opening and closing of the outlet channel. The dispensing unit is connected to the dispensing execution component and is used to store and transport the supplied adhesive. The dispensing unit may include a storage tank, a delivery pipeline, and a pump. The pump can transport the adhesive, and the storage tank... The internally stored adhesive can be supplied to the dispensing execution component via an adhesive delivery pipeline. A moving unit drives the dispensing execution component to move relative to the photovoltaic frame profile. The moving unit may include an X-direction linear module, and / or a Y-direction linear module, and / or a Z-direction linear module. The X-direction linear module is connected to the dispensing execution component, and / or the Y-direction linear module is connected to the dispensing execution component, and / or the Z-direction linear module is connected to the dispensing execution component. Each linear module may include a slide, guide rail, lead screw, servo motor, etc. The linear modules belong to the prior art in the field of X-direction movement, and / or Y-direction movement, and / or Z-direction movement, thereby enabling the moving unit to drive the dispensing execution component to move along the X-direction and / or Y-direction and / or Z-direction. Of course, the dispensing unit and / or moving unit and / or adhesive supply unit may also include other structures or mechanisms capable of realizing the dispensing operation; this disclosure does not limit this.

[0037] In some embodiments, the photovoltaic frame profile dispensing control method further includes a control unit. For example, the control unit may be a processor or a server, etc. The control unit is connected to the dispensing unit. More specifically, the control unit is connected to the dispensing unit or dispensing execution component, the glue supply unit, and the moving unit. It is used to coordinate and control the start, stop, movement, and glue dispensing of the dispensing unit according to control instructions or control programs. The control unit can control the moving unit to move the dispensing unit or dispensing execution component to the corresponding dispensing position according to the distribution position of multiple dispensing holes, dispensing sequence, movement parameters, etc., and control the glue supply unit to supply glue to the dispensing execution component. The dispensing unit or dispensing execution component performs dispensing of glue to each dispensing hole.

[0038] Preferably, the control unit can also be connected to the detection unit. The detection unit is used to detect at least the position status of the dispensing unit, the position of the dispensing hole, and the filling status of the dispensing hole. The detection unit includes at least multiple image sensors (e.g., a CCD camera) and multiple position sensors. The position sensors can be used to detect the position status of the dispensing unit, and the image sensors can take pictures to obtain the position of the dispensing hole, the filling status of the dispensing hole, etc. If necessary, it can also detect the clamping status and / or the glue balance and / or the pressure status of the photovoltaic frame profile, so as to feed the detection results back to the control unit. The control unit adjusts the position and dispensing status of the dispensing unit based on the feedback information, thereby ensuring that the dispensing unit can dispense glue to each dispensing hole, and thus realize the dispensing operation of the photovoltaic frame profile.

[0039] In some embodiments, after the photovoltaic frame profile is clamped and positioned, the control unit obtains the position information of multiple dispensing holes and controls the moving unit to drive the dispensing unit or dispensing execution component to move to the initial dispensing position or the dispensing unit or dispensing execution component is already in the initial dispensing position. Subsequently, the control unit controls the dispensing execution component to pass through the center of the first dispensing hole, the center of the second dispensing hole, ..., the center of the i-th dispensing hole, ..., the center of the P-1-th dispensing hole, and the center of the P-th dispensing hole in sequence according to the first path, and controls the dispensing unit or dispensing execution component to dispense adhesive when passing through the center of each dispensing hole, so that the adhesive enters the corresponding dispensing hole, so that the dispensing unit or dispensing execution component reaches the end position of dispensing.

[0040] In some embodiments, the first path can be understood as at least a unidirectional continuous path generated according to a preset order based on the center positions of P dispensing holes. The first path is used to control the dispensing unit or dispensing execution component to perform dispensing operations sequentially corresponding to each dispensing hole after starting from the initial dispensing position. Specifically, according to the positional distribution of the multiple dispensing holes, the first path can be a unidirectional continuous path along the length and / or height direction of the photovoltaic frame profile. The first path can be formed by sequentially connecting the center of the first dispensing hole, the center of the second dispensing hole, ..., the center of the i-th dispensing hole, ..., the center of the P-1-th dispensing hole, and the center of the P-th dispensing hole to form a continuous broken line trajectory or a straight line-curve combination trajectory. The control unit can control the moving unit to drive the dispensing execution component to sequentially pass through the center of each dispensing hole according to the first path. When passing through the corresponding dispensing hole center, the control unit controls the dispensing unit or dispensing execution component to dispense adhesive so that the adhesive enters the corresponding dispensing hole. During the dispensing process, the dispensing unit or dispensing execution component moves continuously in a predetermined direction until the dispensing unit or dispensing execution component reaches the end position of dispensing.

[0041] In some embodiments, the initial dispensing position can be the center of the first dispensing hole, and the end dispensing position can be the center of the Pth dispensing hole, thereby directly and appropriately reducing the stroke length during the dispensing process.

[0042] In some embodiments, preferably, the generation of the first path can be planned and / or optimized based on the shortest path principle or the nearest neighbor principle, so as to reduce the total stroke length of the dispensing unit, shorten the dispensing cycle time, and maintain or improve the continuity and efficiency of the dispensing process. Of course, the specific generation method of the first path can also be set according to the number of dispensing holes, the arrangement and distribution of dispensing holes, the equipment movement capability, and process requirements, etc., and this disclosure does not limit it in this way.

[0043] In some embodiments, after the dispensing unit or dispensing execution component reaches the dispensing end position, the control unit controls the moving unit to drive the dispensing unit or dispensing execution component back to the dispensing initial position along the second path, in preparation for the next cycle of dispensing operation. The second path can be understood at least as a return path generated based on the relative positional relationship between the dispensing end position and the dispensing initial position, as well as the positional distribution of multiple dispensing holes. The second path is used to control the dispensing unit or dispensing execution component to return to the dispensing initial position after completing the dispensing operation corresponding to the first path.

[0044] In some embodiments, the second path can be a return path formed by reverse tracing along the centers of multiple dispensing holes. This means that the dispensing unit or dispensing execution component starts from the center of the Pth dispensing hole and sequentially passes through at least one of the centers of the (P-1)th, ..., the i-th, ..., and the 2nd dispensing holes until it returns to the area corresponding to the center of the 1st dispensing hole or the area corresponding to the initial dispensing position, thus achieving a return journey along the existing dispensing area. Specifically: In one embodiment, after starting from the center of the Pth dispensing hole, the dispensing unit or dispensing execution component moves back in the opposite direction to the first path, passing sequentially through the centers of the (P-1)th dispensing holes, ..., the ith dispensing hole, ..., the 2nd dispensing hole, until it returns to the center of the 1st dispensing hole or returns to the initial dispensing position after passing through the center of the 1st dispensing hole, thus achieving reverse tracing of the first path. The second path essentially covers the line connecting the centers of the dispensing holes traversed by the first path. The return trajectory of the dispensing unit or dispensing execution component has a high degree of overlap with the forward dispensing trajectory. The control unit can directly control the moving unit to drive the dispensing unit or dispensing execution component back based on the existing first path parameters. During the return along the second path, the dispensing unit or dispensing execution component stops dispensing glue to avoid glue overflow, dripping, or glue waste in non-target areas. At the same time, it can also reduce the amount of path recalculation, which is beneficial to reducing the control difficulty caused by replanning complex trajectories and realizing the reuse of the first path.

[0045] In another embodiment, after starting from the center of the Pth dispensing hole, the dispensing unit or dispensing execution component does not necessarily have to pass through all the dispensing hole centers from the P-1th dispensing hole center to the 2nd dispensing hole center in sequence. Instead, it passes through some of the dispensing hole centers and returns to the corresponding area of ​​the 1st dispensing hole center, or passes through the 1st dispensing hole center and returns to the initial dispensing position. That is, the second path can selectively pass through one, two, or more of the dispensing hole centers of the P-1th dispensing hole center, ..., the ith dispensing hole center, ..., the 2nd dispensing hole center to form a partially reversed return path. The control unit can then... The actual distribution of dispensing holes and the need for refilling adhesive are used to adjust the second path planning. This allows the dispensing unit or dispensing execution component to stop dispensing adhesive from dispensing holes that do not require processing, thus avoiding overflow, dripping, or adhesive waste at non-target dispensing holes, while re-passing through the dispensing hole areas that require processing for secondary refilling. This improves the filling integrity and sealing of the dispensing holes, thereby avoiding the extra return time caused by reversing through the center of all dispensing holes one by one. It also allows for secondary refilling of some dispensing holes according to process needs, thus balancing the flexibility and efficiency of dispensing operations. Of course, the selection method, passage order, and corresponding second path shape of some dispensing holes can be set according to specific process requirements, and this disclosure does not limit this.

[0046] In other embodiments, the second path can be a straight return path covering the line connecting the center of the Pth dispensing hole and the center of the 1st dispensing hole, so that the dispensing unit or dispensing execution component can directly return from the end position of dispensing to the initial position after completing the dispensing of the Pth dispensing hole. Specifically, when there is a relatively direct passage space between the center of the Pth dispensing hole and the center of the 1st dispensing hole, the second path can be a straight return path formed between them, so as to shorten the return distance and reduce the idle travel time as much as possible; at the same time, the control unit can control the dispensing unit or dispensing execution component to stop dispensing during the return process along the second path, so that it returns to the initial position of dispensing quickly, thereby preparing for the next cycle of dispensing operation. Thus, by adopting a direct straight return path between the center of the Pth dispensing hole and the center of the 1st dispensing hole, the repeated traversal area and return travel length of the dispensing unit or dispensing execution component during the return process can be reduced, the overall dispensing cycle time can be shortened, and the efficiency of photovoltaic frame profile dispensing operation can be improved.

[0047] In some embodiments, firstly, after the photovoltaic frame profile is clamped and positioned, the control unit obtains the position information of each dispensing hole on the photovoltaic frame profile, and generates a first path covering all P dispensing holes based on the position information of each dispensing hole and / or a preset dispensing sequence; subsequently, the control unit controls the moving unit to drive the dispensing unit or dispensing execution component to start from the initial dispensing position according to the first path, and sequentially passes through the center of the first dispensing hole, the center of the second dispensing hole, ..., the center of the i-th dispensing hole, ..., the center of the P-1 dispensing hole and the center of the P-th dispensing hole, and synchronously controls the dispensing unit or dispensing execution component to dispense or expel adhesive during the movement, so that the adhesive enters the corresponding dispensing hole, thereby completing the adhesive coverage or filling of each dispensing hole, and achieving the sealing of each dispensing hole, until the dispensing unit or dispensing execution component reaches the dispensing end position corresponding to the P-th dispensing hole; Then, when the dispensing unit or dispensing execution component reaches the end of the dispensing process, the control unit executes the second path according to the preset return strategy and controls the moving unit to drive the dispensing unit or dispensing execution component back to the initial dispensing position along the second path. When the second path selects the reverse return path, the dispensing unit or dispensing execution component returns along the reverse trajectory of the first path in whole or in part to achieve path reuse or to replenish glue to some dispensing holes. When the second path selects the direct return path, the dispensing unit or dispensing execution component returns directly to the initial dispensing position along the straight return path formed between the center of the Pth dispensing hole and the center of the 1st dispensing hole to reduce idle travel and return time. During the return process, the control unit can control the dispensing unit or dispensing execution component to stop dispensing glue to avoid glue overflow, dripping, or glue waste in non-target areas, or it can re-pass through and / or replenish glue to at least some dispensing holes according to actual process requirements. Therefore, through the above-mentioned photovoltaic frame profile dispensing control process, the dispensing unit or dispensing execution component can return to the starting area according to the second path after completing the dispensing of all dispensing holes, thereby forming a complete dispensing-return control closed loop and completing the orderly and controllable dispensing of multiple dispensing holes of the photovoltaic frame profile.

[0048] Therefore, this disclosure obtains the position information of multiple dispensing holes through the control unit, and controls the dispensing unit or dispensing execution component to dispense glue to each dispensing hole sequentially along the first path, thereby making the glue covering, filling and sealing process of each dispensing hole orderly, continuous and controllable, maintaining or improving the automation level of the dispensing operation; then, after completing the dispensing operation corresponding to the first path, the dispensing unit or dispensing execution component is controlled to return to the initial dispensing position along the second path, wherein the second path can be either a return path formed by reverse tracing along the center of multiple dispensing holes, or a straight return path connecting the center of the Pth dispensing hole and the center of the 1st dispensing hole, so that the path reuse, glue replenishment requirement or return efficiency can be flexibly selected according to the actual process requirements, realizing the coordinated cooperation of the glue supply unit, moving unit, control unit and detection unit, maintaining or improving the accuracy and reliability of the dispensing process, and having good process adaptability and application value.

[0049] Optionally, along the length and height of the photovoltaic frame profile, P dispensing holes are arranged in M ​​rows × N columns, where P = M × N, M > 1, N > 1, M is a positive integer, and N is a positive integer. The first path may be a polygonal path or a combination of straight lines and curves; the second path may be a polygonal path, a combination of straight lines and curves, or a straight path.

[0050] In some embodiments, such as Figure 2 or Figure 5 or Figure 8 As shown, along the height direction of the photovoltaic frame profile, P dispensing holes are arranged in M ​​rows. Preferably, the value of M is in the range of 2 ≤ M ≤ 6, for example, M can be 2, 3, 4, 5, 6 or a range between any two values. Of course, M can also be other values ​​or ranges, and this disclosure does not specify them.

[0051] In some embodiments, such as Figure 2 or Figure 5 or Figure 8 As shown, along the length of the photovoltaic frame profile, P dispensing holes are arranged in N columns. Preferably, the value of N is in the range of 2 ≤ N ≤ 6, for example, N can be 2, 3, 4, 5, 6 or any value between any two. Of course, N can also be other values ​​or ranges, and this disclosure does not specify this.

[0052] In some embodiments, the control unit generates a first path in a row-scan manner, causing the dispensing unit or dispensing execution component to start from the initial dispensing position and move sequentially along the center of the dispensing hole in the first row and first column, the center of the dispensing hole in the first row and second column, ..., the center of the dispensing hole in the first row and Nth column, then switch to the center of the dispensing hole in the second row and Nth column, ..., the center of the dispensing hole in the second row and second column, the center of the dispensing hole in the second row and first column, and continue moving, then switch to the center of the dispensing hole in the third row and first column, the center of the dispensing hole in the third row and second column, ..., the center of the dispensing hole in the third row and Nth column, and continue moving until the dispensing operation of the Mth row is completed, thereby forming a polygonal path or a straight-curve combination path. The polygonal path can be composed of multiple straight lines. Preferably, the first path can be a serpentine path, a reciprocating path, or other continuous path suitable for covering the center of M rows × N columns of dispensing holes, so that the dispensing unit or dispensing execution component can move continuously between multiple dispensing holes distributed in a two-dimensional array and complete the dispensing, reducing the extra travel caused by cross-regional jumping movements.

[0053] For example, such as Figure 3 As shown, with M=2 and N=2 as columns, the four dispensing holes include dispensing hole 201 in the first row and first column, dispensing hole 202 in the first row and second column, dispensing hole 203 in the second row and second column, and dispensing hole 204 in the second row and first column. Each of these dispensing holes can also be referred to as dispensing hole 20. After starting from the initial dispensing position, the dispensing unit or dispensing execution component moves sequentially along the dispensing hole center C1 of dispensing hole 201 in the first row and the dispensing hole center C2 of dispensing hole 202 in the first row and second column, and then switches to the corresponding dispensing hole center C3 of dispensing hole 203 in the second row and the dispensing hole center C4 of dispensing hole 204 in the second row and first column, until the dispensing operation of the second row is completed, thus forming the first path. The first path is a zigzag path. Figure 3 The solid line represents a straight line; multiple straight lines form a broken line path, or a path combining straight lines and curves. Figure 3 The dashed lines represent curves, the solid lines represent straight lines, and the combination of solid and dashed lines forms a combined path.

[0054] For example, such as Figure 6As shown, with M=3 and N=3 as columns, there are 9 dispensing holes, including dispensing hole 201 in the first row and first column, dispensing hole 202 in the first row and second column, dispensing hole 203 in the first row and third column, dispensing hole 204 in the second row and third column, dispensing hole 205 in the second row and second column, dispensing hole 206 in the second row and first column, dispensing hole 207 in the third row and first column, dispensing hole 208 in the third row and second column, and dispensing hole 209 in the third row and third column. Each of these dispensing holes can also be referred to as dispensing hole 20. After starting from the initial dispensing position, the dispensing unit or dispensing execution component dispenses along the center C1 of the dispensing hole 201 in the first row and first column, and the dispensing hole 202 in the first row and second column. The process begins by moving the dispensing hole center C2 in row 1, column 3, and then the dispensing hole center C3 in row 2, column 3, and finally the dispensing hole center C4 in row 2, column 3, and the dispensing hole center C5 in row 2, column 2, and the dispensing hole center C6 in row 2, column 1, and then the process continues until the dispensing operation in row 3 is completed. This completes the first path, which is a polygonal path. Figure 6 The solid line represents a straight line; multiple straight lines form a broken line path, or a path combining straight lines and curves. Figure 6 The dashed lines represent curves, the solid lines represent straight lines, and the combination of solid and dashed lines forms a combined path.

[0055] Another example, such as Figure 9As shown, with M=3 and N=4 as columns, the 12 dispensing holes are arranged as follows: row 1, column 1, dispensing hole 201; row 1, column 2, dispensing hole 202; row 1, column 3, dispensing hole 203; row 1, column 4, dispensing hole 204; row 2, column 4, dispensing hole 205; row 2, column 3, dispensing hole 206; row 2, column 2, dispensing hole 207; row 2, column 1, dispensing hole 208; row 3, column 1, dispensing hole 20... 9. Dispensing holes 210, 211, 211, and 212 in the 3rd row and 2nd column, each of which can also be referred to as dispensing hole 20; after starting from the initial dispensing position, the dispensing unit or dispensing execution component moves along the center C1 of the dispensing hole 201 in the 1st row and 1st column, the center C2 of the dispensing hole 202 in the 1st row and 2nd column, and the center C2 of the dispensing hole 202 in the 1st row and 3rd column. The dispensing hole center C3 of hole 203, the dispensing hole center C4 of hole 204 in row 1 and column 4, move sequentially, then switch to the dispensing hole center C5 of hole 205 in row 2 and column 4, the dispensing hole center C6 of hole 206 in row 2 and column 3, the dispensing hole center C7 of hole 207 in row 2 and column 2, the dispensing hole center C8 of hole 208 in row 2 and column 1, and continue moving. Then switch to the dispensing hole center C9 of hole 209 in row 3 and column 1, the dispensing hole center C10 of hole 210 in row 3 and column 2, the dispensing hole center C11 of hole 211 in row 3 and column 4, the dispensing hole center C12 of hole 212 in row 3 and column 4, and continue moving until the dispensing operation of row 3 is completed, thus forming the first path, which is a polyline path. Figure 9 The solid line represents a straight line; multiple straight lines form a broken line path, or a path combining straight lines and curves. Figure 9 The dashed lines represent curves, the solid lines represent straight lines, and the combination of solid and dashed lines forms a combined path.

[0056] In other embodiments, the control unit generates a first path in a column scanning manner, so that the dispensing unit or dispensing execution component starts from the initial dispensing position and moves sequentially along the center of the dispensing hole in the first row of the first column, the center of the dispensing hole in the second row of the first column, ..., the center of the dispensing hole in the Mth row of the first column, then switches to the center of the dispensing hole in the Mth row of the second column, ..., the center of the dispensing hole in the second row of the second column, and continues to move, then switches to the center of the dispensing hole in the first row of the third column, the center of the dispensing hole in the second row of the third column, ..., the center of the dispensing hole in the Mth row of the third column, and continues to move until the dispensing operation of the Nth column is completed, thereby forming a polygonal path or a straight-curve combination path. The polygonal path can be composed of multiple straight lines. Preferably, the first path can be a serpentine path, a reciprocating path, or other continuous path suitable for covering the center of M rows × N columns of dispensing holes, so that the dispensing unit or dispensing execution component can move continuously between multiple dispensing holes distributed in a two-dimensional array and complete the dispensing.

[0057] Additionally, for example, such as Figure 4 As shown, with M=2 and N=2 as columns, the four dispensing holes include dispensing hole 201 in the first row of the first column, dispensing hole 202 in the second row of the first column, dispensing hole 203 in the second row of the second column, and dispensing hole 204 in the first row of the second column. Each of these dispensing holes can also be referred to as dispensing hole 20. After starting from the initial dispensing position, the dispensing unit or dispensing execution component moves sequentially along the dispensing hole center C1 of the dispensing hole 201 in the first row of the first column, and the dispensing hole center C2 of the dispensing hole 202 in the second row of the first column, and then switches to the dispensing hole center C3 of the dispensing hole 203 in the second row of the second column, and the dispensing hole center C4 of the dispensing hole 204 in the first row of the second column, until the dispensing operation of the second column is completed, thus forming the first path. The first path is a zigzag path. Figure 4 The solid line represents a straight line; multiple straight lines form a broken line path, or a path combining straight lines and curves. Figure 4 The dashed lines represent curves, the solid lines represent straight lines, and the combination of solid and dashed lines forms a combined path.

[0058] For example, such as Figure 7As shown, with M=3 and N=3 as columns, there are 9 dispensing holes, including dispensing hole 201 in the first row of the first column, dispensing hole 202 in the second row of the first column, dispensing hole 203 in the third row of the first column, dispensing hole 204 in the third row of the second column, dispensing hole 2025 in the second row of the second column, dispensing hole 206 in the first row of the second column, dispensing hole 207 in the first row of the third column, dispensing hole 208 in the second row of the third column, and dispensing hole 209 in the third row of the third column. Each of these dispensing holes can also be referred to as dispensing hole 20. After starting from the initial dispensing position, the dispensing unit or dispensing execution component moves along the center C1 of the dispensing hole 201 in the first row of the first column, and the dispensing hole 202 in the second row of the first column. The process begins by moving sequentially from center C2 to center C3 of dispensing hole 203 in the 3rd row of the 1st column. Then, it switches to center C4 of dispensing hole 204 in the 3rd row of the 2nd column, followed by center C5 of dispensing hole 2025 in the 2nd row of the 2nd column, and center C6 of dispensing hole 206 in the 1st row of the 2nd column. This continues until the dispensing operation in the 3rd column is completed, thus forming the first path, which is a polygonal path. Figure 7 The solid line represents a straight line; multiple straight lines form a broken line path, or a path combining straight lines and curves. Figure 7 The dashed lines represent curves, the solid lines represent straight lines, and the combination of solid and dashed lines forms a combined path.

[0059] For example, such as Figure 10As shown, with M=3 and N=4 as columns, the 12 dispensing holes include dispensing hole 201 in the first row of the first column, dispensing hole 202 in the second row of the first column, dispensing hole 203 in the third row of the first column, dispensing hole 204 in the fourth row of the first column, dispensing hole 205 in the fourth row of the second column, dispensing hole 206 in the third row of the second column, dispensing hole 207 in the second row of the second column, dispensing hole 208 in the first row of the second column, and dispensing hole 209 in the first row of the third column. 09, dispensing holes 210 in the second row of the third column, 211 in the third row of the third column, and 212 in the fourth row of the third column, each of these dispensing holes can also be referred to as dispensing hole 20; after starting from the initial dispensing position, the dispensing unit or dispensing execution component proceeds along the dispensing hole center C1 of the dispensing hole 201 in the first row of the first column, the dispensing hole center C2 of the dispensing hole 202 in the second row of the first column, and the dispensing hole in the third row of the first column. The dispensing hole center C3 of hole 203, the dispensing hole center C4 of dispensing hole 204 in the 4th row of the 1st column moves sequentially, then switches to the dispensing hole center C5 of dispensing hole 205 in the 4th row of the 2nd column, the dispensing hole center C6 of dispensing hole 206 in the 3rd row of the 2nd column, the dispensing hole center C7 of dispensing hole 207 in the 2nd row of the 2nd column, and the dispensing hole center C8 of dispensing hole 208 in the 1st row of the 2nd column. It continues moving, then switches to the dispensing hole center C9 of dispensing hole 209 in the 1st row of the 3rd column, the dispensing hole center C10 of dispensing hole 210 in the 2nd row of the 3rd column, the dispensing hole center C11 of dispensing hole 211 in the 3rd row of the 3rd column, and the dispensing hole center C12 of dispensing hole 212 in the 4th row of the 3rd column. This continues until the dispensing operation in the 3rd column is completed, thus forming the first path, which is a polygonal path. Figure 10 The solid line represents a straight line; multiple straight lines form a broken line path, or a path combining straight lines and curves. Figure 10 The dashed lines represent curves, the solid lines represent straight lines, and the combination of solid and dashed lines forms a combined path.

[0060] In one embodiment, the second path can be a straight return path, that is, after the dispensing unit or dispensing execution component starts from the end position of dispensing, it returns along a straight path formed between the end position of dispensing and the initial position of dispensing, so as to reduce the idle travel length and return time and improve the overall dispensing cycle time.

[0061] For example, such as Figure 2 As shown, with M=2 and N=2 as columns, the dispensing unit or dispensing execution component starts from the end of the dispensing position and returns along the straight path formed by the center C4 of the dispensing hole 204 in the second row and the first column of the dispensing hole 204 and the center C1 of the dispensing hole 201 in the first row and the first column of the dispensing hole 201; or, as Figure 3 As shown, after the dispensing unit or dispensing execution component starts from the end of the dispensing position, it returns along the straight line formed by the center of the dispensing hole 204 in the first row of the second column and the center of the dispensing hole 201 in the first row of the first column, thus forming a second straight-line return path.

[0062] For example, such as Figure 6 As shown, with M=3 and N=3 as columns, the dispensing unit or dispensing execution component starts from the initial dispensing position and returns along a straight path formed by the center C9 of the dispensing hole in the 3rd row and 3rd column and the center C1 of the dispensing hole 201 in the 1st row and 1st column; or, as... Figure 7 As shown, after the dispensing unit or dispensing execution component starts from the end of the dispensing position, it returns along the straight line formed by the center C9 of the dispensing hole in the 3rd column and the center of the dispensing hole in the 1st column and the 3rd row of the dispensing hole, thus forming a second straight-line return path.

[0063] Another example, such as Figure 9 As shown, with M=3 and N=4 as columns, the dispensing unit or dispensing execution component starts from the initial dispensing position and returns along a straight path formed by the center C12 of the dispensing hole 212 in the 3rd row and 4th column and the center C1 of the dispensing hole 201 in the 1st row and 1st column; or, as... Figure 10 As shown, after the dispensing unit or dispensing execution component starts from the end of the dispensing position, it returns along the straight line formed by the center C12 of the dispensing hole in the third column and fourth row and the center of the dispensing hole in the first column and first row, thus forming a second straight-line return path.

[0064] In another embodiment, the second path can also be a polyline return path or a combination of straight lines and curves. The polyline path can be composed of multiple straight lines. That is, after the dispensing unit or dispensing execution component starts from the end position of dispensing, it returns to the initial position of dispensing along a polyline return path or a combination of straight lines and curves that is adapted to the first path, so that it passes through part or all of the existing dispensing area during the return process, thereby facilitating path reuse and / or refilling of some dispensing holes. For example, such as Figure 2 As shown, with M=2 and N=2 as columns, the dispensing unit or dispensing execution component starts from the end of the dispensing process and moves sequentially along the dispensing hole center C4 of the dispensing hole 204 in the second row and first column, and the dispensing hole center C3 of the dispensing hole 203 in the second row and second column, then switches to the dispensing hole center C2 of the dispensing hole 202 in the first row and second column, and the dispensing hole center C1 of the dispensing hole 201 in the first row and first column, continuing to move until it returns to the initial dispensing position, thus forming a second path. The second path is the reverse path of the first path, and the second path is a zigzag or straight-curve combination return path; similarly, as... Figure 3 As shown, taking M=2 and N=2 as examples, based on the same principle or method of broken line return or straight line curve combination, after the dispensing unit or dispensing execution component starts from the initial dispensing position, the second path is also the reverse path of the first path. This disclosure will not elaborate further.

[0065] For example, such as Figure 6 As shown, with M=3 and N=3 as columns, the dispensing unit or dispensing execution component starts from the end of the dispensing position and moves sequentially along the dispensing hole center C9 of the 3rd row, 3rd column dispensing hole, the dispensing hole center C8 of the 3rd row, 2nd column dispensing hole 208, and the dispensing hole center C7 of the corresponding 3rd row, 3rd row, 1st column dispensing hole 207, then switches to the dispensing hole center C6 of the corresponding 2nd row, 2nd column dispensing hole 206, the dispensing hole center C5 of the corresponding 2nd row, 2nd column dispensing hole 2025, and the dispensing hole center C5 of the corresponding 2nd row, 3rd column dispensing hole. The dispensing hole center C4 of hole 204 continues to move, then switches to the dispensing hole center C3 of dispensing hole 203 in the 3rd column of the 1st row, the dispensing hole center C2 of dispensing hole 202 in the 2nd column of the 1st row, and the dispensing hole center C1 of dispensing hole 201 in the 1st column of the 1st row, continuing until the dispensing operation of the 1st row is completed, until returning to the initial dispensing position, thus forming the second path. Similarly, the second path is the reverse path of the first path, and the second path is a broken line or a combination of straight lines and curves as a return path; in addition, similarly, as Figure 7 As shown, taking M=3 and N=3 as examples, based on the same principle or method of broken line return or straight curve combination, after the dispensing unit or dispensing execution component starts from the initial dispensing position, the second path is also the reverse path of the first path. This disclosure will not elaborate further.

[0066] For example, such as Figure 9 and Figure 10 As shown, taking M=3 and N=4 as examples, similarly, according to the same principle or method of the combination of broken line return or straight curve, after the dispensing unit or dispensing execution component starts from the initial dispensing position, the second path is also the reverse path of the first path. This disclosure will not elaborate further.

[0067] For example, such as Figure 7 As shown, with M=3 and N=3 as columns, after the dispensing unit or dispensing execution component starts from the end of the dispensing position, it returns along the straight line formed by the center C9 of the dispensing hole in the 3rd row and 3rd column and the center C6 of the dispensing hole 206 in the 2nd row and 1st column. Then it continues to return along the straight line formed by the center C6 of the dispensing hole 206 in the 2nd row and 1st column and the center C1 of the dispensing hole 201 in the 1st row and 1st column, thus forming a second path with a zigzag return; or, as... Figure 7 As shown, after the dispensing unit or dispensing execution component starts from the end of the dispensing position, it returns along the straight line formed by the center C9 of the dispensing hole 209 in the 3rd column and the center C2 of the dispensing hole 202 in the 1st column and the 3rd row. Then it continues to return along the straight line formed by the center C2 of the dispensing hole 202 in the 1st column and the center C1 of the dispensing hole 201 in the 1st column and the 3rd row. This can form a second path with a zigzag return.

[0068] Another example, such as Figure 10 As shown, with M=3 and N=4 as columns, after the dispensing unit or dispensing execution component starts from the end of the dispensing position, it returns along the straight line formed by the center C12 of the dispensing hole 212 in the 3rd row and 4th column and the center C7 of the dispensing hole 207 in the 2nd row and 2nd column. Then it continues to return along the straight line formed by the center C7 of the dispensing hole 207 in the 2nd row and 2nd column and the center C1 of the dispensing hole 201 in the 1st row and 1st column, thus forming a second path with a zigzag return; or, as... Figure 10 As shown, after the dispensing unit or dispensing execution component starts from the end of the dispensing position, it returns along the straight line formed by the center C12 of the dispensing hole 212 in the third column and fourth row and the center C6 of the dispensing hole 206 in the second column and third row. Then it continues to return along the straight line formed by the center C6 of the dispensing hole 206 in the second column and third row and the center C1 of the dispensing hole 201 in the first column and first row, thus forming a second path of zigzag return.

[0069] Therefore, in this disclosure, firstly, the control unit can, based on a two-dimensional array distribution of P dispensing holes forming an M-row × N-column array, generate a first path of a polygonal or linear-curve combination according to a row scanning or column scanning method, and continuously and orderly dispensing dispensing multiple dispensing holes in the two-dimensional array distribution. This reduces cross-regional jumping movements, repeated backtracking, and invalid switching during the dispensing process, maintaining or improving the continuity, stability, and controllability of the dispensing process. Then, after completing the dispensing operation corresponding to the first path, the second path is set as the reverse of the first path. The second path, which can be either a linear or a straight return path, allows the dispensing unit or dispensing execution component to return along the existing dispensing area in whole or in part. This enables the reuse of the first path and / or the re-passing of some dispensing holes for re-application. The straight second path helps to shorten the return distance between the end position and the beginning position of dispensing, reduce idle travel time, and improve overall processing efficiency. It can achieve orderly, efficient, and continuous dispensing of multiple dispensing holes, while also taking into account return flexibility and re-application adaptability. This improves the automation, accuracy, and process adaptability of photovoltaic frame profile dispensing operations.

[0070] Optionally, the N dispensing holes in each row are arranged at equal intervals s, and the M dispensing holes in each column are arranged at equal intervals t, with the second path travel length being PL; When the initial and final positions of the dispensing are in the same column, the following conditions are met:

[0071] Alternatively, when the initial and final positions of the dispensing are in the same row, the following condition is met:

[0072] Alternatively, when the initial dispensing position and the end dispensing position are located in different rows and different columns, the following conditions are satisfied: .

[0073] In some embodiments, the second path travel length PL can be at least understood as the total path length that the dispensing unit or the dispensing execution component travels from the end dispensing position back to the initial dispensing position.

[0074] In some embodiments, in the M-row × N-column two-dimensional array distribution of the dispensing holes, s is the spacing between the centers of adjacent two-column dispensing holes (i.e., the column pitch). In other words, the spacing between the centers of adjacent two dispensing holes in each row can be s; t is the spacing between the centers of adjacent two-row dispensing holes (i.e., the row pitch). Correspondingly, the spacing between the centers of adjacent two dispensing holes in each column can be t. Furthermore, it can be used for quantitative calculation and path planning of the length of the first path and / or the second path. Exemplarily, 0 < s ≤ 12 mm, 0 < t ≤ 12 mm. Of course, s and t can also be other values, and the specific values of s and t can also be set according to the distribution of the centers of the dispensing holes, the size of the photovoltaic frame profile, the movement ability of the device, and the actual process requirements, etc. The present disclosure does not limit this.

[0075] In some embodiments, when the initial dispensing position and the end dispensing position are located in the same column, that is, when the end dispensing position of the dispensing unit or the dispensing execution component corresponds to the initial dispensing position in the column direction and there is a gap in the row direction, the second path needs to at least span the row displacement amount between the initial dispensing position and the end dispensing position. The row displacement amount can be jointly determined by the spacing t between adjacent two rows and the corresponding number of rows spanned. And the control unit can control the dispensing unit or the dispensing execution component to return linearly along the same column direction, or can also control it to return along a broken line including one or more turning segments. Correspondingly, the second path will satisfy the relationship (preferably, the following can take an equal relationship): .

[0076] In some embodiments, when the initial dispensing position and the end dispensing position are located in the same row, that is, when the end dispensing position of the dispensing unit or the dispensing execution component corresponds to the initial dispensing position in the row direction and there is a gap in the column direction, the second path needs to at least span the column displacement amount between the initial dispensing position and the end dispensing position. The column displacement amount can be jointly determined by the spacing s between adjacent two columns and the corresponding number of columns spanned. Similarly, the control unit can control the dispensing unit or the dispensing execution component to return linearly along the same row direction, or can also control it to return along a broken line including one or more turning segments. Correspondingly, the second path will satisfy the relationship (preferably, the following can take an equal relationship): .

[0077] In some embodiments, when the initial dispensing position and the final dispensing position are located in different rows and columns, that is, when the final dispensing position of the dispensing unit or dispensing execution component is offset from the initial dispensing position in both the row and column directions, the second path must at least cover the corresponding column displacement and row displacement. The second path can be a straight-line return path formed between the final dispensing position and the initial dispensing position, or it can be a broken-line return path formed by connecting two or more straight-line segments. The corresponding second path will satisfy the following relationship (preferably, the following can be an equality relationship):

[0078] Right now:

[0079] Therefore, in the scenario of a two-dimensional array of M rows × N columns of dispensing holes, the lower limit of the second path travel length PL is clearly defined for three different cases: same column, same row, and different rows and different columns. This allows the control unit to quantitatively analyze, accurately generate, and reasonably control the second path based on the relative positional relationship between the initial and final dispensing positions. The constraint relationship of the second path travel length PL establishes the matching between the second path planning and the distribution structure of P dispensing holes, realizing the computability, feasibility, and accuracy of the second path planning, and avoiding motion redundancy or path disorder caused by unreasonable return path settings.

[0080] Optionally, when starting from the end of the dispensing position, it is determined whether some of the P dispensing holes need to be re-dispensed. If re-dispensing is performed, the second path covers at least one of the centers of the Pth dispensing hole, the (P-1)th dispensing hole, ..., the ith dispensing hole, ..., the 2nd dispensing hole, and the line connecting the center of the 1st dispensing hole. If re-dispensing is not performed, the second path covers the line connecting the center of the Pth dispensing hole and the center of the 1st dispensing hole.

[0081] In some embodiments, when starting from the end of the dispensing position, if the result of determining whether some of the P dispensing holes need to be re-applied is negative, that is, none of the P dispensing holes need to be re-applied, the corresponding second path covers the line formed by the center of the Pth dispensing hole and the center of the 1st dispensing hole. Specifically: When the initial and final dispensing positions are in the same column, the second path travel length PL can satisfy:

[0082] Alternatively, when the initial and final dispensing positions are in the same row, the second path travel length PL can satisfy:

[0083] Alternatively, when the initial and final positions of the dispensing are located in different rows and columns, the second path travel length PL can satisfy: .

[0084] Therefore, the second path travel length PL at this time is: the path length from the end of the dispensing position to the initial dispensing position. Furthermore, in the absence of a need for additional dispensing, the control unit controls the dispensing unit or dispensing execution component to directly return to the initial dispensing position along the straight second path formed between the center of the Pth dispensing hole and the center of the 1st dispensing hole. This ensures that the second path length is the theoretically shortest return distance between the end of the dispensing position and the initial dispensing position. This avoids the dispensing unit or dispensing execution component repeatedly traversing unnecessary areas during the return journey, reducing ineffective back-and-forth motion and idle travel time, shortening the overall processing cycle time, and improving the return efficiency and overall processing efficiency of photovoltaic frame profile dispensing operations. Simultaneously, the straight second path simplifies the control unit's planning and control process for the return trajectory, reduces trajectory switching complexity, and helps maintain the accuracy of equipment operation. These are the most anticipated and optimal solutions in the actual implementation of photovoltaic frame profile dispensing operations.

[0085] In some embodiments, when starting from the end of the dispensing position, if the result of determining whether the dispensing hole needs to be refilled is yes, that is, some of the P dispensing holes need to be refilled, then the second path covers at least one of the centers of the Pth dispensing hole, the (P-1)th dispensing hole, ..., the ith dispensing hole, ..., the 2nd dispensing hole, and the line connecting the centers of the 1st dispensing hole. Preferably, the second path covers one of the centers of the Pth dispensing hole, the (P-1)th dispensing hole, ..., the ith dispensing hole, ..., the 2nd dispensing hole, and the line connecting the centers of the 1st dispensing hole. Specifically: The detection unit may include an image sensor, which may be positioned above or to the side of each dispensing hole, or at another location capable of acquiring images of the dispensing holes, to capture images of each dispensing hole after dispensing. The image sensor captures images of the filling state of each dispensing hole and collects image information of each dispensing hole and its surrounding area. The control unit may perform image recognition and state determination on the filling state of each dispensing hole based on the image information collected by the image sensor, to determine whether there are any dispensing holes requiring additional glue. The filling state may include whether there is insufficient glue in the dispensing hole and / or... Information such as voids or other status information is collected. When there are no missing glue and / or voids in all dispensing holes, that is, there is no need to perform glue replenishment, and glue replenishment is not performed. When at least one dispensing hole has missing glue and / or voids, that is, there is a need to perform glue replenishment, and glue replenishment needs to be performed. The control unit can determine the dispensing hole to be replenished, thereby obtaining multiple target dispensing holes for glue replenishment or forming a set of multiple target dispensing holes for glue replenishment. It can select any one dispensing hole from the multiple target dispensing holes for glue replenishment or the set of multiple target dispensing holes for glue replenishment as the target dispensing hole for glue replenishment.

[0086] In some embodiments, the center of the dispensing hole corresponding to the end position of dispensing is set as CP, the center of the dispensing hole corresponding to the initial position of dispensing is set as C1, and the center of the target dispensing hole to be refilled is set as CG. Then the second path length SL can be the sum of the path length from the center of the dispensing hole CP corresponding to the end position of dispensing to the center of the target dispensing hole CG to be refilled and the path length from the center of the target dispensing hole CG to the center of the dispensing hole corresponding to the initial position of dispensing C1.

[0087] In some embodiments, when the initial dispensing position, the center of the target dispensing hole, and the end dispensing position are in the same column, in other words, when the center of the dispensing hole C1 corresponding to the initial dispensing position, the center of the target dispensing hole CG, and the center of the dispensing hole CP corresponding to the end dispensing position are in the same column, then the second path length SL satisfies: .

[0088] In some embodiments, when the initial dispensing position, the center of the target dispensing hole, and the end dispensing position are in the same row, in other words, when the center of the dispensing hole C1 corresponding to the initial dispensing position, the center of the target dispensing hole CG, and the center of the dispensing hole CP corresponding to the end dispensing position are in the same row, then the second path length SL satisfies: .

[0089] In some embodiments, when the initial dispensing position, the target dispensing hole center, and the dispensing end position are located in different rows and columns—in other words, when the dispensing hole center C1 corresponding to the initial dispensing position, the target dispensing hole center CG, and the dispensing hole center CP corresponding to the end dispensing position are located in different rows and columns—let the row and column indices corresponding to the target dispensing hole center CG be K and Q, respectively, then the second path length SL satisfies:

[0090] Right now:

[0091] Here, the second path length SL is: the total path length from the end of the dispensing process, through the center CG of one of the target dispensing holes for filling, and back to the initial dispensing position.

[0092] In some embodiments, the control unit may pre-store an additional travel allowance threshold, which at least means the maximum additional path length allowed for re-application during the return stroke of the dispensing unit. After the dispensing unit or dispensing execution component completes the dispensing operation corresponding to the first path and reaches the dispensing end position, the control unit determines the second path travel length PL corresponding to the dispensing end position and the dispensing initial position, and calculates the second path length SL corresponding to the return from the dispensing target dispensing hole center CG to the dispensing initial position, based on the position of the re-application target dispensing hole center CG, and then determines the additional travel ΔSP, where ΔSP = |SL - PL|; subsequently, the control unit compares the additional travel ΔSP with the additional travel allowance threshold to determine whether to perform re-application.

[0093] Therefore, when starting from the end of the dispensing position, determining whether to perform re-dispensing on some of the P dispensing holes can include: determining whether there are target dispensing holes for re-dispensing; if there are multiple target dispensing holes for re-dispensing, calculating the difference between the second path length SL and the second path travel length PL for each target dispensing hole to determine the additional travel ΔSP, and determining whether the ΔSP of each target dispensing hole is less than or equal to the additional travel allowable threshold; if all are less than or equal to the additional travel allowable threshold, re-dispensing is performed; if the ΔSP of at least one target dispensing hole for re-dispensing is greater than the additional travel allowable threshold, re-dispensing is not performed; if there are no target dispensing holes for re-dispensing, re-dispensing is not performed. Specifically: If there are multiple target dispensing holes for glue replenishment, and if the ΔSP of each target dispensing hole is less than or equal to the additional stroke allowable threshold, that is, when the ΔSP of each target dispensing hole is less than or equal to the additional stroke allowable threshold, the dispensing unit is controlled to perform glue replenishment. The control unit controls the dispensing unit or dispensing execution component to return along the second path passing through the center CG of the target dispensing hole for glue replenishment, and performs glue replenishment when passing through the center CG of the target dispensing hole. That is, the second path covers at least one of the centers of the Pth dispensing hole, the P-1th dispensing hole, ..., the ith dispensing hole, ..., the 2nd dispensing hole, and the line formed by the center of the 1st dispensing hole. If there are multiple target dispensing holes for glue replenishment, and if the ΔSP of at least one target dispensing hole is greater than the additional stroke allowable threshold (i.e., when ΔSP is greater than the additional stroke allowable threshold), the overall cycle time of glue replenishment will be affected. Therefore, the dispensing unit will not perform glue replenishment, and the control unit will not control the dispensing unit or dispensing execution component to perform glue replenishment on the target dispensing hole in the current second path. Instead, the control unit will control the dispensing unit or dispensing execution component to return to the initial dispensing position along the straight second path. That is, the second path covers the line formed by the center of the Pth dispensing hole and the center of the 1st dispensing hole, and output an alarm signal and / or mark and / or classify the corresponding photovoltaic frame profile as an object to be re-inspected, so that the photovoltaic frame profile will enter the manual re-inspection and / or manual glue replenishment process in the subsequent process. This ensures the overall dispensing cycle time while taking into account the glue dispensing quality control of the photovoltaic frame profile.

[0094] If there is no target dispensing hole for glue replenishment, that is, glue replenishment is not performed. Accordingly, the second path covers the line connecting the center of the Pth dispensing hole and the center of the 1st dispensing hole. For details, please refer to the foregoing content, which will not be repeated in this disclosure.

[0095] In this disclosure, the additional stroke allowance threshold setting and the calculation and judgment of ΔSP for each target dispensing hole are not local glue replenishment permission conditions for a specific target dispensing hole, but rather global constraints on whether the insertion of glue replenishment action is allowed in the current return phase. It is necessary to calculate and judge ΔSP for any candidate target dispensing hole for glue replenishment. When the difference ΔSP between the second path length SL after glue replenishment through the target dispensing hole and the second path stroke length PL of the direct return is small, i.e., ΔSP is less than or equal to the additional stroke allowance threshold, it can be considered that the two return paths have a high degree of similarity, and the glue replenishment action does not significantly increase the return stroke. Embedding the return process under load can achieve a method of applying glue while returning (e.g., SL=PL); however, when the ΔSP of at least one glue-applying target dispensing hole is large, i.e., ΔSP is greater than the additional stroke allowable threshold, it can be appropriately assumed that there is a large difference between the return path after glue application and the direct return path. The glue application behavior will cause the return process to detour significantly. In this case, it is not suitable to implement the method of applying glue while returning in the current return process. Instead, the dispensing unit can be controlled to return directly along a straight second path between the dispensing end position and the dispensing initial position, and the corresponding workpiece can be transferred to the subsequent manual re-inspection and / or manual glue application process.

[0096] Secondly, a photovoltaic frame profile dispensing control system, employing or employing any of the photovoltaic frame profile dispensing control methods described in the first aspect above, includes: Control unit, the control unit being configured to: The dispensing unit starts from the initial dispensing position and dispenses adhesive to the P dispensing holes of the photovoltaic frame profile along the first path until it reaches the end position of the dispensing. The first path covers the line formed by the center of the first dispensing hole, the center of the second dispensing hole, ..., the center of the i-th dispensing hole, ..., the center of the (P-1)-th dispensing hole, and the center of the P-th dispensing hole. The dispensing unit is controlled to start from the end of the dispensing position and return to the initial dispensing position along the second path. The second path covers at least one of the centers of the Pth dispensing hole, the (P-1)th dispensing hole, ..., the ith dispensing hole, ..., the 2nd dispensing hole, and the line connecting the center of the 1st dispensing hole; or, the second path covers the line connecting the center of the Pth dispensing hole and the center of the 1st dispensing hole.

[0097] In some embodiments, the dispensing unit starts from the initial dispensing position, and dispensing adhesive to P dispensing holes of the photovoltaic frame profile along a first path until it reaches the end position of the dispensing. The first path covers the center of the first dispensing hole, the center of the second dispensing hole, ..., the center of the i-th dispensing hole, ..., the center of the (P-1)-th dispensing hole. The line connecting the centers of the P-th dispensing holes can be referred to the same or related technical content in the first aspect, and will not be repeated in this disclosure.

[0098] In some embodiments, similarly, the dispensing unit is controlled to start from the end position of dispensing, so that the dispensing unit returns to the initial position of dispensing along the second path, the second path covering at least one of the centers of the Pth dispensing hole, the P-1th dispensing hole, ..., the ith dispensing hole, ..., the 2nd dispensing hole, and the line connecting the center of the 1st dispensing hole; or, the second path covering the line connecting the center of the Pth dispensing hole and the center of the 1st dispensing hole can refer to the same or related technical content in the first aspect, which will not be repeated in this disclosure.

[0099] Optionally, when starting from the end of the dispensing position, the control unit determines whether some of the P dispensing holes need to be replenished. If replenishment is performed, the second path covers at least one of the centers of the Pth dispensing hole, the (P-1)th dispensing hole, ..., the ith dispensing hole, ..., the 2nd dispensing hole, and the line connecting the center of the 1st dispensing hole. If replenishment is not performed, the second path covers the line connecting the center of the Pth dispensing hole and the center of the 1st dispensing hole. And / or, the first path includes or is a polygonal path or a combination of straight lines and curves. And / or, the second path includes or is a polygonal path, a combination of straight lines and curves, or a straight path.

[0100] In some embodiments, the first path and the second path may both include or be a polyline path or a combination of straight lines and curves. These contents can be referred to the same or related technical contents in the first aspect, and will not be repeated in this disclosure.

[0101] In some embodiments, similarly, when starting from the end of the dispensing position, the control unit determines whether to perform re-dispensing on some of the P dispensing holes. This can include: determining whether to perform re-dispensing on some of the P dispensing holes when starting from the end of the dispensing position; determining whether to perform re-dispensing on some of the P dispensing holes when starting from the end of the dispensing position; determining whether there are target dispensing holes for re-dispensing; if there are multiple target dispensing holes for re-dispensing, calculating the difference between the second path length SL and the second path travel length PL for each target dispensing hole to determine the additional travel ΔSP; and determining whether the ΔSP of each target dispensing hole is less than or equal to the additional travel allowable threshold. If all are less than or equal to the additional travel allowable threshold, re-dispensing is performed; if the ΔSP of at least one target dispensing hole for re-dispensing is greater than the additional travel allowable threshold, re-dispensing is not performed; if there are no target dispensing holes for re-dispensing, re-dispensing is not performed. These contents can also be referred to the same or related technical contents in the first aspect, and will not be repeated in this disclosure.

[0102] In some embodiments, when starting from the end of the dispensing position, the control unit determines whether some of the P dispensing holes need to be replenished. If replenishment is performed, the second path covers at least one of the centers of the Pth dispensing hole, the (P-1)th dispensing hole, ..., the ith dispensing hole, ..., the 2nd dispensing hole, and the line formed by the centers of the 1st dispensing hole. The second path includes or is a zigzag path. These contents can be referred to the same or related technical contents in the first aspect, and will not be repeated in this disclosure.

[0103] In some embodiments, when starting from the end of the dispensing position, the control unit determines whether some of the P dispensing holes need to be replenished with glue. If not, the second path covers the line connecting the center of the Pth dispensing hole and the center of the 1st dispensing hole. The second path includes or is a straight path. These contents can be referred to the same or related technical contents in the first aspect, and will not be repeated in this disclosure.

[0104] Optionally, along the length and height of the photovoltaic frame profile, P dispensing holes are arranged in M ​​rows × N columns, where P = M × N, M > 1, N > 1, M is a positive integer, and N is a positive integer. The N dispensing holes in each row are arranged at equal intervals s, and the M dispensing holes in each column are arranged at equal intervals t. The second path travel length is PL. When the initial and final positions of the dispensing are in the same column, the following conditions are met:

[0105] Alternatively, when the initial and final positions of the dispensing are in the same row, the following condition is met:

[0106] Alternatively, when the initial and final positions of the dispensing are in different rows and columns, the following condition is met: .

[0107] In some embodiments, similarly, the above-mentioned content can also be referred to the same or related technical content in the first aspect, and will not be repeated in this disclosure.

[0108] Thirdly, a photovoltaic frame profile dispensing control device includes a processor and a memory, wherein the memory stores a computer program, and when the processor executes the computer program, it implements a photovoltaic frame profile dispensing control method as described in any of the first aspects.

[0109] Those skilled in the art will understand that a photovoltaic frame profile dispensing control device includes: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps in any of the photovoltaic frame profile dispensing control methods described in the first aspect above.

[0110] In this disclosure, the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. The processor is the control center of the terminal device, connecting various parts of the terminal device via various interfaces and lines.

[0111] In this disclosure, the memory can be used to store the computer programs and / or modules. The processor implements various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory and by calling data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the mobile phone (such as audio data, phonebook, etc.). In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0112] Fourthly, this application provides a computer-readable storage medium storing instructions that, when executed on a computer, perform a photovoltaic frame profile dispensing control method as described in any of the first aspects.

[0113] In this disclosure, if the modules / units integrated into the terminal device are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0114] Those skilled in the art will understand that the technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. The steps, measures, and schemes in the various operations, methods, and processes discussed in this disclosure can be alternated, modified, combined, or deleted. Furthermore, other steps, measures, and schemes in the various operations, methods, and processes discussed in this disclosure can also be alternated, modified, rearranged, decomposed, combined, or deleted. Furthermore, the steps, measures, and schemes in the prior art that are different from those in the various operations, methods, and processes disclosed in this disclosure can also be alternated, modified, rearranged, decomposed, combined, or deleted. As long as there is no contradiction in the combination of these technical features, they should all be considered to be within the scope of this specification.

[0115] The above-described embodiments are merely examples of several implementation methods of the present disclosure, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of the patent for the present disclosure. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present disclosure, and these all fall within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be determined by the appended claims.

Claims

1. A dispensing control method for a photovoltaic frame profile, characterized in that, comprises: the dispensing unit dispenses the P dispensing holes of the photovoltaic frame profile along a first path from a dispensing initial position to a dispensing end position, the first path covering a line formed by a first dispensing hole center, a second dispensing hole center, …, an i dispensing hole center, …, a P-1 dispensing hole center, and a P dispensing hole center, i being a positive integer, P being a positive integer, and 1 the dispensing unit returns to the dispensing initial position from the dispensing end position along a second path, the second path covering a line formed by at least one of the P dispensing hole center, the P-1 dispensing hole center, …, the i dispensing hole center, …, the second dispensing hole center, and the first dispensing hole center; or the second path covering a line formed by the P dispensing hole center and the first dispensing hole center.

2. The dispensing control method of photovoltaic frame profiles according to claim 1, characterized in that, The P dispensing holes form M rows by N columns along the length direction and the height direction of the photovoltaic frame profile, P=M×N, M>1, N>1, M being a positive integer, N being a positive integer, the first path comprising or being a polyline path or a linear-curve combined path; the second path comprising or being a polyline path or a linear-curve combined path or a linear path.

3. The dispensing control method of claim 2, wherein, The N dispensing holes in each row are arranged at equal intervals s, and the M dispensing holes in each column are arranged at equal intervals t, the second path having a length PL; when the dispensing initial position and the dispensing end position are located in the same column, the following condition is satisfied: or, when the dispensing initial position and the dispensing end position are located in the same row, the following condition is satisfied: or, when the dispensing initial position and the dispensing end position are located in different rows and different columns, the following condition is satisfied: 。 4. The dispensing control method of claim 2, wherein, when starting from the dispensing end position, it is determined whether to perform dispensing for part of the P dispensing holes, if dispensing is performed, the second path covers a line formed by at least one of the P dispensing hole center, the P-1 dispensing hole center, …, the i dispensing hole center, …, the second dispensing hole center, and the first dispensing hole center; if dispensing is not performed, the second path covers a line formed by the P dispensing hole center and the first dispensing hole center.

5. The dispensing control method of claim 3, wherein, The photovoltaic frame profile is a composite material, preferably, the composite material comprises glass fibers and polyurethane; and / or, 4≤P≤36; and / or, 2≤M≤6; and / or, 2≤N≤6; and / or, along the width direction of the photovoltaic frame profile, the dispensing hole penetrates through the side wall of the photovoltaic frame profile; and / or, the adhesive at least partially fills the dispensing hole, the adhesive comprising resin.

6. A photovoltaic frame profile dispensing control system, characterized in that, comprises: a control unit configured to: control the dispensing unit to dispense the P dispensing holes of the photovoltaic frame profile along a first path from a dispensing initial position to a dispensing end position, the first path covering a line formed by a first dispensing hole center, a second dispensing hole center, …, an i dispensing hole center, …, a P-1 dispensing hole center, and a P dispensing hole center, i being a positive integer, P being a positive integer, and 1 The dispensing unit is controlled to start from the end of the dispensing position and return to the initial dispensing position along the second path. The second path covers at least one of the centers of the Pth dispensing hole, the (P-1)th dispensing hole, ..., the ith dispensing hole, ..., the 2nd dispensing hole, and the line connecting the center of the 1st dispensing hole; or, the second path covers the line connecting the center of the Pth dispensing hole and the center of the 1st dispensing hole.

7. The dispensing control system for photovoltaic frame profiles according to claim 6, characterized in that, When starting from the end of the dispensing position, it is determined whether some of the P dispensing holes need to be replenished. If replenishment is performed, the second path covers at least one of the following: the center of the Pth dispensing hole, the center of the (P-1)th dispensing hole, ..., the center of the ith dispensing hole, ..., the center of the 2nd dispensing hole, and the line connecting the center of the 1st dispensing hole. If replenishment is not performed, the second path covers the line connecting the center of the Pth dispensing hole and the center of the 1st dispensing hole. And / or, the first path includes or is a polygonal path or a combination of straight lines and curves. And / or, the second path includes or is a polygonal path, a combination of straight lines and curves, or a straight path.

8. The dispensing control system for photovoltaic frame profiles according to claim 7, characterized in that, Along the length and height of the photovoltaic frame profile, P dispensing holes are arranged in M ​​rows × N columns, where P = M × N, M > 1, N > 1, M is a positive integer, and N is a positive integer. The N dispensing holes in each row are arranged at equal intervals s, and the M dispensing holes in each column are arranged at equal intervals t. The length of the second path is PL. When the initial and final positions of the dispensing are in the same column, the following conditions are met: Alternatively, when the initial and final positions of the dispensing are in the same row, the following condition is met: Alternatively, when the initial and final positions of the dispensing are in different rows and columns, the following condition is met: 。 9. A photovoltaic frame profile dispensing control device, characterized in that, The device includes a processor and a memory, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the dispensing control method for photovoltaic frame profiles as described in any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the dispensing control method for photovoltaic frame profiles according to any one of claims 1 to 5.

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