Hollow glass self-adaptive sealing control method and device based on deep feedback and dynamic programming, equipment, storage medium and program product

Abstract

The application relates to a hollow glass self-adaptive sealing control method and device based on deep feedback and dynamic programming, computer equipment, a readable storage medium and a program product, and relates to the technical field of automatic control. The application can improve sealing control precision. The method comprises the following steps: in the case that hollow glass reaches a sealing station, the rotation angle of an arc contact piece is detected in real time through an absolute value encoder connected to the end of a driven guide rod; according to the rotation angle, the relative depth original value of a glue outlet and an aluminum strip of the hollow glass is obtained, the relative depth original value is subjected to two-stage filtering processing, and the filtered relative depth target value is obtained; under the premise that the glue amount is fixed, the actual moving speed of the hollow glass is dynamically calculated and adjusted according to the relative depth target value; in the case that the hollow glass reaches the end of sealing, the hollow glass is smoothly decelerated and stopped through a PT control mode based on the current moving speed of the hollow glass, and the sealing process is completed.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and in particular to an adaptive sealing control method, device, computer equipment, computer-readable storage medium, and computer program product for insulating glass based on deep feedback and dynamic programming. Background Technology

[0002] With the development of automatic control technology, a constant-speed sealing machine has emerged that is specifically designed for the accurate application of sealing materials (such as glue and adhesives). This equipment can apply glue to the joint of insulating glass by setting a speed and pressure.

[0003] However, when the shape of the aluminum strip in the insulating glass changes, such as when the height changes, the constant speed movement of the constant speed sealing machine will cause uneven sealing strips. Protrusions will result in excessive adhesive (wasting adhesive, affecting aesthetics, and requiring manual cleaning later), while depressions will result in insufficient adhesive (which may lead to poor sealing). Therefore, there is a problem of insufficient sealing control precision. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, apparatus, computer equipment, computer-readable storage medium, and computer program product for adaptive sealing control of insulated glass based on depth feedback and dynamic programming to address the above-mentioned technical problems.

[0005] In a first aspect, this application provides an adaptive sealing control method for insulating glass based on depth feedback and dynamic programming, comprising:

[0006] Once it is confirmed that the insulating glass has reached the sealing station, the arc-shaped contact piece connected to the front end of the driven guide rod is driven to contact the insulating glass according to the preset sampling frequency, and the rotation angle of the arc-shaped contact piece is detected in real time by the absolute encoder connected to the end of the driven guide rod.

[0007] Based on the rotation angle, the original value of the relative depth between the glue outlet and the aluminum strip of the insulating glass is obtained. The original value of the relative depth is then subjected to two-stage filtering to obtain the filtered target value of the relative depth.

[0008] Under the premise of fixed glue output, the actual moving speed of the insulating glass is dynamically calculated and adjusted according to the target value of relative depth so as to keep the glue output per unit length constant.

[0009] Upon detecting that the insulating glass has reached the end of the sealing process, the insulating glass is smoothly decelerated and brought to a stop using the PT (Position-Time) control mode based on its current moving speed, thus completing the sealing process.

[0010] In one embodiment, the step of performing a two-stage filtering process on the original relative depth value to obtain a filtered target relative depth value includes:

[0011] Based on the maximum and minimum depth thresholds, the original relative depth value is subjected to threshold filtering to remove unreasonable values, resulting in a first-level filtered relative depth value. The first-level filtered relative depth value is then subjected to first-order low-pass filtering through a first-order low-pass filtering recursive model to obtain the target relative depth value.

[0012] In one embodiment, dynamically calculating and adjusting the actual moving speed of the insulating glass unit based on the relative depth target value includes:

[0013] Based on the relative depth target value, combined with the preset sealant thickness, basic sealant speed, and depth compensation coefficient, the actual moving speed of the insulating glass is determined; a movement control command is generated based on the actual moving speed, and the movement of the insulating glass is controlled by the movement control command.

[0014] In one embodiment, the smooth deceleration and stopping of the insulating glass unit based on its current moving speed via a PT control mode includes:

[0015] Based on the current moving speed, combined with the preset deceleration distance and deceleration time, a smooth position-time curve is generated through the PT control mode; based on the position-time curve, the insulating glass is smoothly decelerated so that the speed of the insulating glass drops smoothly to zero when it reaches the sealing end point.

[0016] In one embodiment, the arc-shaped contact piece connected to the front end of the driven guide rod contacts the insulating glass, and the rotation angle of the arc-shaped contact piece is detected in real time by an absolute encoder connected to the end of the driven guide rod, including:

[0017] The linear cylinder is triggered to rotate, and the piston rod of the linear cylinder drives the driven guide rod to rotate through the rod end spherical bearing, so that the arc-shaped contact piece presses against the surface of the insulating glass, and the rotation angle is detected in real time by the absolute encoder; the end of the driven guide rod is connected to the absolute encoder through a coupling.

[0018] In one embodiment, the method further includes:

[0019] If the insulating glass unit does not reach the sealing end and the sampling time corresponding to the preset sampling frequency is triggered, the process returns to the step of real-time detection of the rotation angle of the arc-shaped contact piece by the absolute encoder connected to the end of the driven guide rod, until the insulating glass unit reaches the sealing end.

[0020] Secondly, this application also provides an adaptive sealing control device for insulating glass based on depth feedback and dynamic programming, comprising:

[0021] An angle detection module is used to drive the arc-shaped contact piece connected to the front end of the driven guide rod to contact the insulating glass at a preset sampling frequency when it is confirmed that the insulating glass has reached the sealing station, and to detect the rotation angle of the arc-shaped contact piece in real time through the absolute encoder connected to the end of the driven guide rod.

[0022] A two-stage filtering module is used to obtain the original value of the relative depth between the glue outlet and the aluminum strip of the insulating glass according to the rotation angle, and to perform two-stage filtering on the original value of the relative depth to obtain the filtered target value of the relative depth.

[0023] The speed adjustment module is used to dynamically calculate and adjust the actual moving speed of the insulating glass according to the target value of relative depth, under the premise of fixed glue dispensing amount, so as to keep the glue dispensing amount per unit length constant.

[0024] The smooth deceleration module is used to smoothly decelerate and stop the insulating glass unit based on its current moving speed using PT control mode when the sealing end is detected, thus completing the sealing process.

[0025] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0026] Once the insulating glass unit reaches the sealing station, the arc-shaped contact piece connected to the front end of the driven guide rod is driven to contact the insulating glass unit according to a preset sampling frequency. The rotation angle of the arc-shaped contact piece is detected in real time by an absolute encoder connected to the end of the driven guide rod. Based on the rotation angle, the original value of the relative depth between the glue outlet and the aluminum strip of the insulating glass unit is obtained. The original value of the relative depth is then subjected to two-stage filtering to obtain the filtered target value of the relative depth. Under the premise of a fixed glue dispensing amount, the actual moving speed of the insulating glass unit is dynamically calculated and adjusted according to the target value of the relative depth to keep the glue dispensing amount per unit length constant. When the insulating glass unit reaches the sealing end, it is smoothly decelerated and stopped using PT control mode based on the current moving speed of the insulating glass unit, thus completing the sealing process.

[0027] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0028] Once the insulating glass unit reaches the sealing station, the arc-shaped contact piece connected to the front end of the driven guide rod is driven to contact the insulating glass unit according to a preset sampling frequency. The rotation angle of the arc-shaped contact piece is detected in real time by an absolute encoder connected to the end of the driven guide rod. Based on the rotation angle, the original value of the relative depth between the glue outlet and the aluminum strip of the insulating glass unit is obtained. The original value of the relative depth is then subjected to two-stage filtering to obtain the filtered target value of the relative depth. Under the premise of a fixed glue dispensing amount, the actual moving speed of the insulating glass unit is dynamically calculated and adjusted according to the target value of the relative depth to keep the glue dispensing amount per unit length constant. When the insulating glass unit reaches the sealing end, it is smoothly decelerated and stopped using PT control mode based on the current moving speed of the insulating glass unit, thus completing the sealing process.

[0029] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0030] Once the insulating glass unit reaches the sealing station, the arc-shaped contact piece connected to the front end of the driven guide rod is driven to contact the insulating glass unit according to a preset sampling frequency. The rotation angle of the arc-shaped contact piece is detected in real time by an absolute encoder connected to the end of the driven guide rod. Based on the rotation angle, the original value of the relative depth between the glue outlet and the aluminum strip of the insulating glass unit is obtained. The original value of the relative depth is then subjected to two-stage filtering to obtain the filtered target value of the relative depth. Under the premise of a fixed glue dispensing amount, the actual moving speed of the insulating glass unit is dynamically calculated and adjusted according to the target value of the relative depth to keep the glue dispensing amount per unit length constant. When the insulating glass unit reaches the sealing end, it is smoothly decelerated and stopped using PT control mode based on the current moving speed of the insulating glass unit, thus completing the sealing process.

[0031] The aforementioned adaptive sealing control method, device, computer equipment, computer-readable storage medium, and computer program product for insulating glass based on depth feedback and dynamic programming, upon confirming that the insulating glass has reached the sealing station, drives the arc-shaped contact piece connected to the front end of the driven guide rod to contact the insulating glass according to a preset sampling frequency, and detects the rotation angle of the arc-shaped contact piece in real time through an absolute encoder connected to the end of the driven guide rod; based on the rotation angle, the original value of the relative depth between the glue outlet and the aluminum strip of the insulating glass is obtained; the original value of the relative depth is subjected to two-stage filtering to obtain the filtered target value of the relative depth; under the premise of fixed glue dispensing, the actual moving speed of the insulating glass is dynamically calculated and adjusted according to the target value of the relative depth to keep the sealing amount per unit length constant; when the insulating glass is detected to have reached the sealing end, the insulating glass is smoothly decelerated and stopped through PT control mode based on the current moving speed of the insulating glass, thus completing the sealing process. This application, under the premise of a fixed glue dispensing volume, ensures uniform glue strip thickness by using speed adaptive control based on the relative depth between the glue outlet and the aluminum strip of the insulating glass, significantly improving the sealing performance and aesthetics of the insulating glass. Finally, for the deceleration and stopping phase, a PT control mode is introduced to smoothly reduce the moving speed of the insulating glass, thereby improving the sealing control accuracy and effectively eliminating the defects of "glue dragging" and "blank space" caused by sudden stops. At the same time, a filtering algorithm is used to process the original value of relative depth, improving the anti-interference capability and stability of the control system. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is an application environment diagram of an adaptive sealing control method for insulated glass based on depth feedback and dynamic programming in one embodiment;

[0034] Figure 2 This is a flowchart illustrating an adaptive sealing control method for insulated glass based on depth feedback and dynamic programming in one embodiment.

[0035] Figure 3 This is a flowchart illustrating an adaptive sealing control method for insulated glass based on depth feedback and dynamic programming in a specific embodiment.

[0036] Figure 4 This is a flowchart illustrating an adaptive sealing control method for insulated glass based on depth feedback and dynamic programming in one application embodiment.

[0037] Figure 5 This is a structural block diagram of an adaptive sealing control device for insulating glass based on depth feedback and dynamic programming in one embodiment.

[0038] Figure 6 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0040] The adaptive sealing control method for insulating glass based on depth feedback and dynamic programming provided in this application can be applied to, for example... Figure 1 The application environment shown includes a pneumatic solenoid valve, a linear cylinder, a piston rod, a rod end spherical bearing, a driven guide rod, a rotary bearing, an arc-shaped contact plate, a coupling, an absolute encoder, and a controller. The piston rod of the linear cylinder is connected to the driven guide rod via a rod end spherical bearing (floating joint). The driven guide rod is supported by a rotary bearing. An arc-shaped contact plate is mounted at the front end of the driven guide rod, and the end of the driven guide rod is connected to the absolute encoder via a coupling. The linear motion of the cylinder is converted into rotary motion. When the cylinder actuates, the driven guide rod rotates, causing the arc-shaped contact plate at the front end of the driven guide rod to press against the insulating glass. Simultaneously, the absolute encoder connected to the end of the driven guide rod can detect the rotation angle of the arc-shaped contact plate. This rotation angle indicates the depth of the insulating glass.

[0041] Specifically, the adaptive sealing control method for insulating glass based on depth feedback and dynamic programming provided in this application embodiment can be executed by a controller.

[0042] For example, when the controller confirms that the insulating glass has reached the sealing station, it drives the arc-shaped contact piece connected to the front end of the driven guide rod to contact the insulating glass according to a preset sampling frequency, and the absolute encoder connected to the end of the driven guide rod detects the rotation angle of the arc-shaped contact piece in real time. Based on the rotation angle, the controller obtains the original value of the relative depth between the glue outlet and the aluminum strip of the insulating glass, performs two-stage filtering on the original value of the relative depth, and obtains the filtered target value of the relative depth. Under the premise of fixed glue dispensing, the controller dynamically calculates and adjusts the actual moving speed of the insulating glass according to the target value of the relative depth to keep the sealing amount per unit length constant. When the controller detects that the insulating glass has reached the sealing end, it smoothly decelerates and stops the insulating glass based on the current moving speed of the insulating glass through PT control mode, thus completing the sealing process.

[0043] In such Figure 1 In the application environment shown, the pneumatic drive module consists of a pneumatic solenoid valve, a linear cylinder, and a piston rod; the motion transmission and guidance module consists of a rod end spherical bearing, a driven guide rod, a rotary bearing, an arc-shaped contact plate, and a coupling; and the position feedback module consists of an absolute encoder and a controller. The controller may be, but is not limited to, a Googol controller of model GBX131-261-16EC-G.

[0044] In one embodiment, such as Figure 2 As shown, an adaptive sealing control method for insulated glass based on depth feedback and dynamic programming is provided. This method can be applied to... Figure 1 The controller in the process may include the following steps:

[0045] Step S201: After confirming that the insulating glass has reached the sealing station, the arc-shaped contact piece connected to the front end of the driven guide rod is driven to contact the insulating glass according to the preset sampling frequency, and the rotation angle of the arc-shaped contact piece is detected in real time by the absolute encoder connected to the end of the driven guide rod.

[0046] Specifically, after the function is activated, the controller, upon confirming that the insulating glass has reached the sealing station, triggers the linear cylinder to work according to the preset sampling frequency, driving the arc-shaped contact piece connected to the front end of the driven guide rod to contact the insulating glass, and the absolute encoder connected to the end of the driven guide rod detects the rotation angle of the arc-shaped contact piece in real time.

[0047] Step S202: Based on the rotation angle, obtain the original value of the relative depth between the glue outlet and the aluminum strip of the insulating glass. Perform two-stage filtering on the original value of the relative depth to obtain the filtered target value of the relative depth.

[0048] Specifically, the controller obtains the original value of the relative depth between the glue outlet and the aluminum strip of the insulating glass based on the rotation angle, and performs threshold filtering and first-order low-pass filtering on the original value of the relative depth to obtain the filtered target value of the relative depth.

[0049] Step S203: Under the premise of fixed glue dispensing amount, dynamically calculate and adjust the actual moving speed of the insulating glass according to the target value of relative depth, so as to keep the glue dispensing amount per unit length constant.

[0050] Specifically, with a fixed amount of adhesive dispensed, the controller dynamically calculates the actual moving speed of the insulating glass unit based on the target value of relative depth, and controls the movement of the insulating glass unit according to the actual moving speed, so that the amount of adhesive per unit length remains constant.

[0051] Step S204: When it is detected that the insulating glass has reached the end of the sealing process, the insulating glass is smoothly decelerated and stopped by PT control mode based on the current moving speed of the insulating glass to complete the sealing process.

[0052] Specifically, when the controller detects that the insulating glass has reached the end of the sealing process, it smoothly decelerates and stops the insulating glass based on its current moving speed using PT control mode, thus completing the sealing process.

[0053] In this embodiment, upon confirming that the insulating glass has reached the sealing station, the arc-shaped contact piece connected to the front end of the driven guide rod is driven to contact the insulating glass according to a preset sampling frequency. The rotation angle of the arc-shaped contact piece is detected in real time by an absolute encoder connected to the end of the driven guide rod. Based on the rotation angle, the original value of the relative depth between the glue outlet and the aluminum strip of the insulating glass is obtained. The original value of the relative depth is subjected to two-stage filtering to obtain the filtered target value of the relative depth. Under the premise of fixed glue dispensing, the actual moving speed of the insulating glass is dynamically calculated and adjusted according to the target value of the relative depth to keep the sealing amount per unit length constant. When the insulating glass is detected to have reached the sealing end, the insulating glass is smoothly decelerated and stopped through PT control mode based on the current moving speed of the insulating glass, thus completing the sealing process. This application, under the premise of a fixed glue dispensing volume, ensures uniform glue strip thickness by using speed adaptive control based on the relative depth between the glue outlet and the aluminum strip of the insulating glass, significantly improving the sealing performance and aesthetics of the insulating glass. Finally, for the deceleration and stopping phase, a PT control mode is introduced to smoothly reduce the moving speed of the insulating glass, thereby improving the sealing control accuracy and effectively eliminating the defects of "glue dragging" and "blank space" caused by sudden stops. At the same time, a filtering algorithm is used to process the original value of relative depth, improving the anti-interference capability and stability of the control system.

[0054] In one embodiment, step S202 above, which involves performing a two-stage filtering process on the original relative depth value to obtain the filtered target relative depth value, may include the following steps:

[0055] Based on the maximum and minimum depth thresholds, the original relative depth values ​​are subjected to threshold filtering to remove unreasonable values, resulting in a first-level filtered relative depth value. The first-level filtered relative depth value is then subjected to a first-order low-pass filtering recursive model to obtain the target relative depth value.

[0056] The maximum depth threshold and minimum depth threshold can be used to adjust the range of threshold filtering.

[0057] The first-order low-pass filter recursive model can be expressed as:

[0058] Current filter depth value = Smoothing coefficient * Current sampling depth value + (1 - Smoothing coefficient) * Previous filter depth value

[0059] In the above formula, the smoothing coefficient refers to the scanner smoothing coefficient, which can be used to adjust the strength of the first-order low-pass filter.

[0060] Specifically, the controller identifies and removes values ​​in the original relative depth that are greater than the maximum depth threshold and less than the minimum depth threshold, obtaining the first-level filtered relative depth value. The first-level filtered relative depth value is then input into a first-order low-pass filter recursive model for first-order low-pass filtering processing, resulting in the target relative depth value output by the first-order low-pass filter recursive model.

[0061] In one embodiment, step S203 above, dynamically calculating and adjusting the actual moving speed of the insulating glass based on the relative depth target value, may include the following steps:

[0062] Based on the target relative depth, combined with the preset sealing thickness, basic sealing speed, and depth compensation coefficient, the actual moving speed of the insulating glass is determined; based on the actual moving speed, a movement control command is generated, and the movement of the insulating glass is controlled by the movement control command.

[0063] The speed adaptive control model can be expressed as:

[0064] Actual moving speed = (Base sealing speed * Preset sealing thickness) / (Relative depth target value) * Depth compensation coefficient

[0065] In the above formula, the basic sealing speed can be the basic insulated glass conveying speed, in meters per minute; the preset sealing thickness can be the basic sealing thickness, in millimeters; and the depth compensation coefficient can be a preset coefficient used to fine-tune the conveying speed of the insulated glass.

[0066] Specifically, the controller inputs the relative depth target value, preset sealing thickness, basic sealing speed, and depth compensation coefficient into the speed adaptive control model to calculate the speed, obtain the actual moving speed of the insulating glass output by the speed adaptive control model, and then generates operation control commands based on the actual moving speed to control the movement of the insulating glass.

[0067] In one embodiment, step S204 above, which involves smoothly decelerating and stopping the insulating glass unit based on its current moving speed using a PT control mode, may include the following steps:

[0068] Based on the current moving speed, combined with the preset deceleration distance and deceleration time, a smooth position-time curve is generated through PT control mode; the insulated glass is smoothly decelerated based on the position-time curve, so that the speed of the insulated glass drops smoothly to zero when it reaches the sealing end point.

[0069] Among them, the PT (Position-Time) control mode is a tool in project management and scheduling that optimizes resource utilization and task arrangement by quantifying the relationship between location and time.

[0070] Specifically, the controller generates a smooth position-time curve based on the current moving speed and a pre-set deceleration distance and time through PT control mode; then, it uses the position-time curve to smoothly decelerate the insulating glass, so that the speed of the insulating glass drops smoothly to zero when it reaches the sealing end point.

[0071] In one embodiment, step S201 above, which involves driving the arc-shaped contact piece connected to the front end of the driven guide rod to contact the insulating glass, and using an absolute encoder connected to the end of the driven guide rod to detect the rotation angle of the arc-shaped contact piece in real time, may include the following steps:

[0072] The linear cylinder is triggered to rotate, and the piston rod of the linear cylinder drives the driven guide rod to rotate through the rod end spherical bearing, so that the arc-shaped contact piece presses against the surface of the insulating glass, and the rotation angle is detected in real time by an absolute encoder; the end of the driven guide rod is connected to the absolute encoder through a coupling.

[0073] The end of the driven guide rod can be connected to an absolute encoder via a coupling.

[0074] Specifically, the controller triggers the linear cylinder to move, and the piston rod of the linear cylinder drives the driven guide rod to rotate through the rod end joint bearing, so that the arc-shaped contact piece presses against the surface of the insulating glass, and the rotation angle is detected in real time by an absolute encoder.

[0075] In one embodiment, the method of this application may further include the following steps:

[0076] If the insulated glass does not reach the sealing end and the sampling time corresponding to the preset sampling frequency is triggered, return to the step of real-time detection of the rotation angle of the arc contact piece by the absolute encoder connected to the end of the driven guide rod until the insulated glass reaches the sealing end.

[0077] Specifically, if the insulated glass does not reach the sealing end and the sampling time corresponding to the preset sampling frequency is triggered, the system returns to the step of real-time detection of the rotation angle of the curved contact piece by the absolute encoder connected to the end of the driven guide rod until the insulated glass reaches the sealing end.

[0078] In one embodiment, such as Figure 3 As shown, a specific embodiment of an adaptive sealing control method for insulating glass based on depth feedback and dynamic programming is provided, which specifically includes the following steps:

[0079] Step S301: After confirming that the insulating glass has reached the sealing station, the arc-shaped contact piece connected to the front end of the driven guide rod is driven to contact the insulating glass according to the preset sampling frequency, and the rotation angle of the arc-shaped contact piece is detected in real time by the absolute encoder connected to the end of the driven guide rod.

[0080] Step S302: Based on the rotation angle, obtain the original value of the relative depth between the glue outlet and the aluminum strip of the insulating glass. Based on the maximum depth threshold and the minimum depth threshold, perform threshold filtering on the original value of relative depth to remove unreasonable values ​​and obtain the first-level filtered relative depth value. Then, perform first-order low-pass filtering on the first-level filtered relative depth value through a first-order low-pass filtering recursive model to obtain the filtered target value of relative depth.

[0081] Step S303: Under the premise of fixed glue dispensing amount, determine the actual moving speed of the insulating glass according to the target value of relative depth, combined with the preset sealing thickness, basic sealing speed and depth compensation coefficient; generate a motion control command according to the actual moving speed, and control the movement of the insulating glass through the motion control command to keep the sealing amount per unit length constant.

[0082] Step S304: If the insulated glass does not reach the sealing end and the sampling time corresponding to the preset sampling frequency is triggered, return to the step of real-time detection of the rotation angle of the arc-shaped contact piece by the absolute encoder connected to the end of the driven guide rod until the insulated glass reaches the sealing end.

[0083] Step S305: When the insulating glass unit is detected to have reached the sealing end, a smooth position-time curve is generated based on the current moving speed and the pre-set deceleration distance and deceleration time through PT control mode. Based on the position-time curve, the insulating glass unit is smoothly decelerated so that the speed of the insulating glass unit drops to zero smoothly when it reaches the sealing end point, thus completing the sealing process.

[0084] The beneficial effects of the above embodiments are as follows:

[0085] This application uses an encoder to detect the relative depth between the glue outlet and the aluminum strip of the insulating glass in real time. Under the premise of a fixed glue dispensing amount, it dynamically adjusts the glass moving speed to ensure that the glue strip thickness is uniform. Finally, for the deceleration and stopping phase, a PT (position-time) control mode is introduced to smoothly reduce the speed and effectively eliminate the defects of "glue dragging" and "blank space" caused by sudden stops. At the same time, a filtering algorithm (first-order low-pass filter + threshold filter) is used to process the encoder signal, which improves the anti-interference ability and stability of the control system.

[0086] To more clearly illustrate the adaptive sealing control method for insulated glass based on depth feedback and dynamic programming provided in this application, the following specific description uses an application example. In one embodiment, such as Figure 4 As shown, this application also provides an adaptive sealing control method for insulating glass based on depth feedback and dynamic programming, which specifically includes the following steps:

[0087] First, parameters are set, such as basic sealing speed, preset sealing depth, and smoothness coefficient. After the function is started, when the insulating glass reaches the sealing point, the controller triggers the linear cylinder to work, causing the arc-shaped contact piece to press onto the insulating glass. The controller reads the encoder value, first performs a threshold filter to remove unreasonable values, then performs a first-order low-pass filter recursion, and then adds the filtered value to the speed adaptive control formula to determine whether the sealing end of the insulating glass has been reached. After reaching the sealing end, the PT planning stops the deceleration.

[0088] The beneficial effects of the above embodiments are as follows:

[0089] 1) Improve product quality: Through speed adaptive control, the thickness of the sealing strip is ensured to be uniform, which significantly improves the sealing performance and aesthetics of the insulating glass.

[0090] 2) Reduce material waste: In-depth testing allows for precise control, avoiding excessive use of adhesives and saving costs;

[0091] 3) Reduce product defect rate: The PT deceleration and stopping method fundamentally solves the problems of "adhesive dragging" and "white space", thus reducing the product defect rate;

[0092] 4) Improved system reliability: The introduction of threshold filtering algorithm enhances anti-interference capability, and low-pass filtering eliminates the problem of rubber surface ripples.

[0093] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0094] Based on the same inventive concept, this application also provides an adaptive sealing control device for insulating glass based on depth feedback and dynamic programming for implementing the aforementioned adaptive sealing control method for insulating glass based on depth feedback and dynamic programming. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the adaptive sealing control device for insulating glass based on depth feedback and dynamic programming provided below can be found in the limitations of the adaptive sealing control method for insulating glass based on depth feedback and dynamic programming described above, and will not be repeated here.

[0095] In one exemplary embodiment, such as Figure 5 As shown, an adaptive sealing control device for insulating glass based on depth feedback and dynamic programming is provided. The device may include:

[0096] Angle detection module 501 is used to drive the arc-shaped contact piece connected to the front end of the driven guide rod to contact the insulating glass according to a preset sampling frequency when it is confirmed that the insulating glass has reached the sealing station, and to detect the rotation angle of the arc-shaped contact piece in real time through the absolute encoder connected to the end of the driven guide rod.

[0097] The two-stage filtering module 502 is used to obtain the original value of the relative depth between the glue outlet and the aluminum strip of the insulating glass according to the rotation angle, and to perform two-stage filtering on the original value of the relative depth to obtain the filtered target value of the relative depth.

[0098] The speed adjustment module 503 is used to dynamically calculate and adjust the actual moving speed of the insulating glass according to the target value of relative depth, under the premise of fixed glue dispensing amount, so as to keep the glue dispensing amount per unit length constant.

[0099] The smooth deceleration module 504 is used to smoothly decelerate and stop the insulating glass in PT control mode based on the current moving speed of the insulating glass when it is detected that the insulating glass has reached the end of the sealing process, thereby completing the sealing process.

[0100] In one embodiment, the two-stage filtering module 502 is further configured to perform threshold filtering on the original relative depth value according to the maximum depth threshold and the minimum depth threshold to remove unreasonable values, thereby obtaining a first-stage filtered relative depth value; and to perform first-stage low-pass filtering on the first-stage filtered relative depth value through a first-order low-pass filtering recursive model to obtain the target relative depth value.

[0101] In one embodiment, the speed adjustment module 503 is further configured to determine the actual moving speed of the insulating glass based on the relative depth target value, combined with the preset sealing thickness, the basic sealing speed, and the depth compensation coefficient; generate a motion control command based on the actual moving speed, and control the movement of the insulating glass through the motion control command.

[0102] In one embodiment, the smooth deceleration module 504 is further configured to generate a smooth position-time curve based on the current moving speed, combined with a pre-set deceleration distance and deceleration time, through the PT control mode; and to perform smooth deceleration control on the insulating glass based on the position-time curve, so that the speed of the insulating glass smoothly drops to zero when it reaches the sealing endpoint.

[0103] In one embodiment, the angle detection module 501 is also used to trigger the action of the linear cylinder, wherein the piston rod of the linear cylinder drives the driven guide rod to rotate through the rod end joint bearing, so that the arc-shaped contact piece presses against the surface of the insulating glass, and the rotation angle is detected in real time by the absolute encoder; the end of the driven guide rod is connected to the absolute encoder through a coupling.

[0104] In one embodiment, the device may further include: a cyclic execution module, configured to, if the insulating glass unit does not reach the sealing end and the sampling time corresponding to the preset sampling frequency is triggered, return to the step of real-time detection of the rotation angle of the arc-shaped contact piece by the absolute encoder connected to the end of the driven guide rod, until the insulating glass unit reaches the sealing end.

[0105] The modules in the aforementioned adaptive sealing control device for insulating glass based on depth feedback and dynamic programming can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0106] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 6As shown, the computer device includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements an adaptive sealing control method for insulated glass based on depth feedback and dynamic programming. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0107] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0108] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0109] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0110] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0111] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0112] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0113] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0114] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for adaptive sealing control of insulating glass based on depth feedback and dynamic programming, characterized in that, Applied to a controller, the method includes: Once it is confirmed that the insulating glass has reached the sealing station, the arc-shaped contact piece connected to the front end of the driven guide rod is driven to contact the insulating glass according to the preset sampling frequency, and the rotation angle of the arc-shaped contact piece is detected in real time by the absolute encoder connected to the end of the driven guide rod. Based on the rotation angle, the original value of the relative depth between the glue outlet and the aluminum strip of the insulating glass is obtained. The original value of the relative depth is then subjected to two-stage filtering to obtain the filtered target value of the relative depth. Under the premise of fixed glue output, the actual moving speed of the insulating glass is dynamically calculated and adjusted according to the target value of relative depth so as to keep the glue output per unit length constant. Upon detecting that the insulating glass has reached the end of the sealing process, the insulating glass is smoothly decelerated and brought to a stop using PT control mode based on its current moving speed, thus completing the sealing process.

2. The method according to claim 1, characterized in that, The step of performing a two-stage filtering process on the original relative depth value to obtain the filtered target relative depth value includes: Based on the maximum depth threshold and the minimum depth threshold, the original relative depth value is subjected to threshold filtering to remove unreasonable values, and the first-level filtered relative depth value is obtained. The relative depth target value is obtained by performing a first-order low-pass filtering process on the first-order filtered relative depth value using a first-order low-pass filtering recursive model.

3. The method according to claim 2, characterized in that, The step of dynamically calculating and adjusting the actual moving speed of the insulating glass unit based on the relative depth target value includes: Based on the relative depth target value, combined with the preset sealing thickness, basic sealing speed and depth compensation coefficient, the actual moving speed of the insulating glass is determined; Based on the actual moving speed, a movement control command is generated, and the movement of the insulating glass is controlled by the movement control command.

4. The method according to claim 1, characterized in that, The method of smoothly decelerating and stopping the insulating glass unit based on its current moving speed using PT control mode includes: Based on the current moving speed, combined with the preset deceleration distance and deceleration time, a smooth position-time curve is generated through the PT control mode; Based on the position-time curve, the insulating glass is smoothly decelerated so that its speed drops to zero smoothly when it reaches the sealing endpoint.

5. The method according to claim 1, characterized in that, The arc-shaped contact piece connected to the front end of the driven guide rod contacts the insulating glass, and the rotation angle of the arc-shaped contact piece is detected in real time by an absolute encoder connected to the end of the driven guide rod, including: The linear cylinder is triggered to rotate, and the piston rod of the linear cylinder drives the driven guide rod to rotate through the rod end spherical bearing, so that the arc-shaped contact piece presses against the surface of the insulating glass, and the rotation angle is detected in real time by the absolute encoder; the end of the driven guide rod is connected to the absolute encoder through a coupling.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: If the insulating glass unit does not reach the sealing end and the sampling time corresponding to the preset sampling frequency is triggered, the process returns to the step of real-time detection of the rotation angle of the arc-shaped contact piece by the absolute encoder connected to the end of the driven guide rod, until the insulating glass unit reaches the sealing end.

7. A self-adaptive sealing control device for insulating glass based on depth feedback and dynamic programming, characterized in that, The device includes: An angle detection module is used to drive the arc-shaped contact piece connected to the front end of the driven guide rod to contact the insulating glass at a preset sampling frequency when it is confirmed that the insulating glass has reached the sealing station, and to detect the rotation angle of the arc-shaped contact piece in real time through the absolute encoder connected to the end of the driven guide rod. A two-stage filtering module is used to obtain the original value of the relative depth between the glue outlet and the aluminum strip of the insulating glass according to the rotation angle, and to perform two-stage filtering on the original value of the relative depth to obtain the filtered target value of the relative depth. The speed adjustment module is used to dynamically calculate and adjust the actual moving speed of the insulating glass according to the target value of relative depth, under the premise of fixed glue dispensing amount, so as to keep the glue dispensing amount per unit length constant. The smooth deceleration module is used to smoothly decelerate and stop the insulating glass unit based on its current moving speed using PT control mode when the sealing end is detected, thus completing the sealing process.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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