CN107471890A - A kind of High Precision Automatic processing technology with stone texture identification function - Google Patents
A kind of High Precision Automatic processing technology with stone texture identification function Download PDFInfo
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- CN107471890A CN107471890A CN201710608369.4A CN201710608369A CN107471890A CN 107471890 A CN107471890 A CN 107471890A CN 201710608369 A CN201710608369 A CN 201710608369A CN 107471890 A CN107471890 A CN 107471890A
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- 239000004575 stone Substances 0.000 title claims abstract description 150
- 238000012545 processing Methods 0.000 title claims abstract description 65
- 238000005516 engineering process Methods 0.000 title claims abstract description 26
- 239000000463 material Substances 0.000 claims abstract description 116
- 238000000034 method Methods 0.000 claims abstract description 38
- 238000003754 machining Methods 0.000 claims abstract description 24
- 230000008569 process Effects 0.000 claims abstract description 24
- 238000004519 manufacturing process Methods 0.000 claims abstract description 13
- 238000005457 optimization Methods 0.000 claims description 5
- 238000002360 preparation method Methods 0.000 claims description 4
- 238000009826 distribution Methods 0.000 abstract description 9
- 230000008859 change Effects 0.000 abstract description 5
- 238000005520 cutting process Methods 0.000 description 15
- 235000019738 Limestone Nutrition 0.000 description 8
- 239000006028 limestone Substances 0.000 description 8
- 239000010438 granite Substances 0.000 description 7
- -1 griotte Substances 0.000 description 6
- 238000011160 research Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 239000010454 slate Substances 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 239000011435 rock Substances 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 239000010441 alabaster Substances 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- OSGAYBCDTDRGGQ-UHFFFAOYSA-L calcium sulfate Chemical compound [Ca+2].[O-]S([O-])(=O)=O OSGAYBCDTDRGGQ-UHFFFAOYSA-L 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000000205 computational method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44C—PRODUCING DECORATIVE EFFECTS; MOSAICS; TARSIA WORK; PAPERHANGING
- B44C3/00—Processes, not specifically provided for elsewhere, for producing ornamental structures
- B44C3/06—Sculpturing
Landscapes
- Numerical Control (AREA)
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Abstract
The invention discloses a kind of High Precision Automatic processing technology with stone texture identification function, includes prepared manufacturing procedure, stone texture identification process and generation manufacturing procedure.A kind of High Precision Automatic processing technology with stone texture identification function of the present invention, it catches the texture picture of stone material work surface by image identification system, and analyze the grain distribution situation in picture, according to the texture actual distribution situation of stone material come the machining path for stone material of making rational planning for, retain the texture on stone material as far as possible, that makes good use of stone material this characteristics of being imbued with change chases after line phenomenon, allow the lines of front, rear, left and right or upper and lower, left and right to join end to end, then can create extremely esthetical natural patterns.
Description
Technical field
The present invention relates to field of stone processing, more particularly to a kind of High Precision Automatic with stone texture identification function plus
Work technique.
Background technology
With the whole world, " in-depth of the lasting propulsion and the industrial revolution of industry 4.0 ", Chinese manufacturing transition and upgrade enter one
The individual brand-new stage." concept of industry 4.0 " is using intelligence manufacture as the leading fourth industrial revolution, or revolutionary life
Production method.The strategy is intended to by making full use of ICT, cyberspace virtual system mutually to be tied with information physical system
The means of conjunction, manufacturing industry is made the transition to intellectuality, intellectuality turns into the important cry that Chinese industrial is changed, and the invention is also just
It is to be based on arising at the historic moment under this background.
The quality of processing of stone is critically depend on following several respects：1) degree of understanding of stone material in itself, 2) process equipment with
Stone material agrees with degree, 3) performance of process equipment；Wherein, the understanding for stone material is the point for needing to consider at first, this
It is that but processing of stone is one in itself because existing processing of stone is instructed according to the experience accumulation of processing staff mostly
The technique of kind resource oriented, each stone material all have its unique natural attribute, thus, the understanding for every kind of stone material is
It is the basis for determining subsequent machining technology, when needing to be processed the complicated stone material of attribute, or even needs concentration interdiscipline,
Multi-disciplinary technical staff is engaged the exploitation for being processed equipment and the optimization of technique, rather than by experience is soluble
Technical problem.
Currently, the instrument of all kinds of rock material resources, the research of process equipment, the optimization of processing technology, process mating is set
The main no school of technology point and scientific research institution are opened up in the processing of stone such as standby, auxiliary material collocation corresponding specialty is entered
Row research, and the enterprise for relying primarily on the field is voluntarily studied, should because resources for research is deficient in enterprise and research direction is single
Often difficulty has achievement for research.
The widely used Numeric Control Technology of countries in the world today enterprise carries out processing of stone, the either crudy of stone material also
It is that processing efficiency has a distinct increment.And in recent years with the development of decorative craft of building and processing of stone industry, for high-grade guest
The shape of the stone countertops plate in shop, square and family becomes increasingly complex, dimensional accuracy more and more higher, to stone carving robot processability
It can require also with regard to more and more higher.But the kind of lithotome is multifarious, granite, griotte, stone can be divided into by commercial use
Limestone, sandstone, slate and other stone materials.Wherein, the characteristics of granite material it is quality hard and compact, intensity is high, thermo-labile；
The characteristics of griotte material is that tissue is fine and closely woven hard, and hardness is less than granite；The characteristics of limestone material is that general hardness is little,
Processing characteristics is excellent, and hardness is low more crisp；The characteristics of slate material is that hardness is better than sandstone, but is less than granite.Meanwhile even if together
The stone material of one kind also has many different series, such as：Granite has red packet series, Yellow series, white series, green system
The big series of row, the serial and grey color system of black etc. six.Griotte has white griotte, grey griotte, pink griotte, thin
Grain griotte, coarse grain griotte, oriental alabaster etc..Limestone can be divided into cherty limestone, clayey limestone and white clouds
Three kinds of matter limestone.
In view of existing technical merit, the working process parameter of existing stone carving numerical control device, such as processes rotating speed, feed
Amount, cutter, feed circuit etc., can only all be fixed on respectively has one admittedly for granite, griotte, limestone, sandstone, slate etc.
Fixed processing technology, but because the kind of stone material is multifarious, the stone material of same kind also has many different series, material spy
Point is had nothing in common with each other, even if also having with a batch of stone material, material feature is inconsistent, and hardness is not quite similar, with fixed processing technology
Go stone carving obviously can not produce optimal effect.
The content of the invention
Present invention seek to address that above-mentioned mentioned technical problem, there is provided one kind can identify stone material line before processing stone material
Manage and find out similarity highest texture reference pictures to plan the high-accuracy stone automatic technology of machining path.Solve
The problem of every batch of stone material or same batch difference stone material cause to influence processing characteristics and effect because grain distribution differs.Solve
In the past will not according to the actual texture situation of stone material come make rational planning for machining path the problem of.
The present invention is realized by following technical scheme：
A kind of High Precision Automatic processing technology with stone texture identification function, includes：
A, preparation manufacturing procedure：Stone material gripping step, grips stone material, and plane machining is carried out to stone material by cutter,
Show texture；
B, stone texture identification process：The texture picture of stone material work surface is caught by image identification system, is being schemed
As storing the reference pictures of some textures in identifying system, and machining path and process corresponding to every kind of reference pictures are matched,
The texture picture captured is contrasted with reference pictures；
C, manufacturing procedure is generated：Procedure of processing is generated, the texture picture found out and captured according to the numerical value of similarity is most
Close reference pictures, machining path and process according to corresponding to reference pictures determine the processing mode of stone material to be processed；Add
Work step is rapid, controls cutter to carry out processing of stone according to the processing mode of setting by robot.
Preferably, image identification system catches the line of stone material work surface by the video camera being arranged in robot
Manage picture.
Preferably, stone material to be processed includes at least two work surfaces, and the quantity of video camera is no less than table to be processed
The quantity in face.
Preferably, generating procedure of processing includes texture picture being divided into several regions that can be planned by coordinate system, leads to
The quantity for identifying the grain lines in each region is crossed, the region that selection does not include grain lines forms a continuous path
And form machining path.
Preferably, generating procedure of processing includes texture picture being divided into several regions that can be planned by coordinate system, leads to
Cross the quantity for identifying the grain lines in each region, using the solution method of combinatorial optimization problem come calculate continuously, road
The machining path of grain lines minimum number included by the Shang Ge regions of footpath.
Preferably, the region division of texture picture arranges according to rectangle or triangular mesh.
Preferably, robot carries out tool changing by rotating tool magazine, and each cutter on tool magazine corresponds to different hardness sections,
Tool magazine switches the cutter for corresponding to hardness section to match the actual hardness of stone material by rotating.
Beneficial effect is：Compared with prior art, a kind of high accuracy with stone texture identification function of the invention from
Dynamic processing technology, it catches the texture picture of stone material work surface by image identification system, and analyzes the texture in picture
Distribution situation, according to the texture actual distribution situation of stone material come the machining path for stone material of making rational planning for, retain stone material as far as possible
On texture, that makes good use of stone material this characteristics of being imbued with change chases after line phenomenon, allows front, rear, left and right or upper and lower, left and right
Lines joins end to end, then can create extremely esthetical natural patterns.This pattern can be as cloud changeable, also can picture
The open country or the mountains and rivers of Pentium, this abstract natural patterns go to come to realize with the imagination of appreciator entirely, can have a taste of from viewing and admiring it is big from
The enjoyment of U.S. is so brought to us；Pass through a kind of High Precision Automatic processing work with stone texture identification function of the present invention
Skill, the native texture on stone material can be retained so that the slabstone of gained can still retain splicing after the cutting out of follow-up stone material
The overall texture to get up, referred to as spells line, can also create extremely esthetical natural patterns.
Brief description of the drawings
The embodiment of the present invention is described in further detail below in conjunction with accompanying drawing, wherein：
Fig. 1 is integrated artistic flow chart.
Embodiment
As shown in figure 1, a kind of High Precision Automatic processing technology with hardness of stone detection function, includes：
Preparation manufacturing procedure can be divided into stone material clamping and two steps of parameter setting；Specially pass through folder in robot
Tool clamps stone material, and current processing of stone mode has for the conventional stone material such as granite, griotte, limestone, sandstone, slate
Relatively uniform machined parameters and corresponding cutter, the machined parameters can include the rotating speed of cutter, process time etc., it is determined that
After the kind of stone material to be processed, it is then determined that to should kind stone material process tool and machined parameters.Cutter is preferably drill,
Machined parameters can be rotating speed and the cutting time of drill, under setting of the corresponding drill in fixed rotating speed and cutting time
Stone material is drilled, the depth of drilling is measured by driving the gaging hole that sets is deep on the lathe that drill rotates device,
Its test mode determined according to the amount of feeding of drill, and depth that system drills according to the drill is contrasted in data storage
Depth is demarcated, the actual hardness of stone material is drawn so as to correlation calibration hardness；Finally adjusted according to the actual hardness of stone material
Go out to should the processing technology of hardness stone material is processed, can be specifically that different cutters is selected according to hardness.Processing
Parameter can also be rotating speed and cutting output, under fixed rotating speed and cutting output, contrast the time needed for actual cut and the knife
The time of setting, then compares two times, actual hardness of stone is drawn by the hardness number of setting corresponding to tool.
, it is necessary to carry out the characteristic identification of stone material to be processed after preparation manufacturing procedure, it identifies that content includes stone material
Hardness determination process and stone texture identification process, the process be respectively used to detect stone material to be processed actual hardness data and
The texture picture in face to be processed.
Wherein, hardness of stone detection process：Stone material is processed according to the machined parameters of setting with selected cutter, added
Man-hour detects cutting parameter of the cutter to stone material by detection means, setting for the cutting parameter detected and the kind stone material
Determine cutting parameter to be contrasted, the actual hardness for detecting stone material at present is then drawn according to the setting hardness of the kind stone material.
The cutting parameter can be the active force that suffered stone material is given when including the cutting output or tool sharpening in the unit interval.When
When the cutting output that cutting parameter was selected in the unit interval is as measurement standard, the actual hardness of stone material is equal to its setting hardness and is multiplied by
Ratio between actual cut amount and setting cutting output；The active force that suffered stone material is given when cutting parameter selects tool sharpening
During as measurement standard, the actual hardness of stone material is equal to it and sets the ratio that hardness is multiplied by between actual force and setting active force
Value.Another hardness of stone refers to that stone surface resists the ability that surface was portrayed, and denuded, cuts or be pressed into other materials.It and stone material
Mineral composition, construction, structure it is relevant.The hardness of stone material and the compression strength of stone material have good positive correlation, while hardness
Big stone material wearability is good, but difficulty of processing is also big, and the abrasion to cutter is also bigger.In general the structure of rock constructs,
The uneven stone material easy processing of grain equalization, solution, crystal boundary and the initial crack of rock are also critically important influence to processability
Factor.In addition, process tool and machined parameters all can change with the change of stone material actual hardness.
Wherein, stone texture identification process：Can be that plane machining is carried out to stone material, processing plane can show afterwards
Go out the texture of stone material, the picture of texture, by the data transfer photographed into system, system are then caught with image identification system
In store the reference pictures of some textures in advance, judged by image recognition technology in the actual texture picture of stone material and system
Similarity between reference pictures, similarity highest reference pictures are found out, then system can be found out has set accordingly
Processing scheme, the texture situation in reference pictures come regulation stone material follow-up machining path and processing mode so that
Corresponding pattern can be processed by obtaining stone material, can so realize the standardized processing of stone material, the stone material processed as far as possible
Texture is easy to realize that spelling line is connected or chases after line connection with other stone materials.The setting of reference pictures and picture are known wherein in system
The similarity comparison of other technology can be realized by general algorithm and system.
Stone texture identifies process：It can also be the grain picture that stone material work surface is caught by image identification system
Face, and analyze the grain distribution situation in picture.Image identification system can be by the video camera being arranged in robot come
Catch the texture picture of stone material work surface.For the stone material that shape is more complicated, after robotic gripper, stone material is probably
Complex polyhedron, its work surface include some planes being mutually inclined, are likely difficult to capture using single camera and treat
The detailed texture picture of finished surface, can set at least two video cameras around stone material in robot, the video camera with
Robot motion.
In view of the stone material for different process requirements, the principle for analyzing texture picture may also be different.For stone material
Carving Machining, it is necessary to as far as possible retain can end to end lines, as chase after line alleged by this area.It is many to chase after line
Stone material has certain lines trend, and stone material this characteristics of being imbued with change is such as made good use of during processing, allow front, rear, left and right or it is upper,
Under, left and right lines join end to end, then can create extremely esthetical natural patterns.This pattern can be as changeable
Cloud, also it can go to come to realize with the imagination of appreciator entirely as the open country or the mountains and rivers of Pentium, this abstract natural patterns, can from viewing and admiring
The enjoyment of U.S. is brought to have a taste of the Nature to us.Stone material chases after pattern processing method and is not only applicable in the stone material of bright line lines,
To the stone material of aberration be present in processing also in this way, to ensure that sheet material remains original natural wind when mounted
Lattice.
Demand for chasing after line standard, cameras capture processing before work surface on grain lines distribution situation base
Quasi- picture, then simulates the machining path of cutter, and the path of tool sharpening can be connected according to avoiding grain lines being present
The standard in region plans or planned according to the standard around the region that grain lines connection be present, the purpose is to
In order to preserve the connected part of texture on stone material as far as possible, the effect for spelling line can be formed when being easy to subsequently cut, increase stone material into
Pass reward property after type.
Lines lines in view of it is possible that the densely covered situation of texture, at this moment corresponding to texture on stone material on texture picture
More and closeer, the scope of Texture mapping is also relatively wide, is to be difficult to find that is avoided a head in the cutting of planning cutter or engraving path
The path of the connected texture of tail, the analysis method at this point for texture picture can be that reference pictures are divided into several regions, should
Partition method can be carried out or the picture to multiple shot by camera for the picture of shot by camera
Carry out, the mode of subregion can also be according to grid division or triangle subregion etc.；After the completion of subregion, each region can be analyzed
In join end to end the quantity of texture, the processing road of continuous path planning cutter is then formed in the region of the negligible amounts
Footpath, the region can be as far as possible small, so enable to the quantity gap between region bigger.
Specially in region, setting is closeer, and the more situation without grain lines is there are in region, then generation processing step
Rapid to include texture picture to be divided into several regions, by identifying the quantity of the grain lines in each region, selection does not include
The region of textured circuit forms a continuous path and forms machining path.
Region setting is more loose, no grain lines in region seldom be present, textured line in most of region
Road, now, then generating procedure of processing includes texture picture to be divided into several regions, by identifying the grain in each region
The quantity on road, the path of the grain lines minimum number continuously, included by the Shang Ge regions of path is calculated according to algorithmic rule.
The computational methods can be realized using the algorithm for solving combinatorial optimization problem, concretely be set to being less than in region
The region of the grain lines of fixed number amount is counted, and the region quantity determines the quantity of areas combine, can be sat according to three-dimensional
System or two-dimensional coordinate system are marked to determine the position of regional on work surface, the framework function of population quantity is at this
The corresponding coordinate value in each region, sentence so as to form a continuous circuit in region in coordinate system in series connection population quantity
The broken string whether continuous mode in road can be whether adjacent 2 points of compositions circuit can lead and can determine whether the circuit is continuous, passes through
If this mode can exclude discontinuous circuit in the main line region independent assortment stroke；Each region is corresponding one
The quantitative value of grain lines, after the several combination that the permutation and combination in region is formed has discharged discontinuous situation,
It is optimal processing line that every kind of combination grain lines quantitative value sum therein, which is contrasted, as minimum optimal solution.According to
The quantity for the grain lines that each region is surveyed, carrying out automatic cook up can effectively avoid or to avoid grain distribution as far as possible closeer
Region path.
After the completion of the characteristic for treating processing stone material identifies, it is determined that the actual hardness of stone material and for work surface
Machining path, then carry out generation manufacturing procedure：Cutter is selected according to the actual hardness of stone material, according to actual texture picture and
The distribution situation between similarity or grain lines between the texture picture of setting determines machining path, right in robot
Spatial parameter corresponding to machining path carries out automated programming, automatically generates the motion mode of each movement and rotary shaft in robot,
By robot control cutter processing of stone is carried out according to the machining path of determination.
Robot can carry out tool changing by rotating tool magazine, and each cutter on tool magazine corresponds to different hardness sections,
Tool magazine switches the cutter for corresponding to hardness section to match the actual hardness of stone material by rotating.Robot can be industrial six axle machines
Tool hand.
The present invention solves the problems, such as in the past to process different hardness stone material Intelligent Selection with different processing technologys.This
The texture of the intelligent automatic identification stone material of invention energy carries out flexible processing.The present invention solves the stone material of different hardness automatically from not
Same cutter is processed.Invention increases the method that stone carving numerically controlled processing equipment sets up tool magazine.Solve every batch of stone material or
The same batch difference stone material of person causes to influence processing characteristics and effect because hardness is not quite identical.No matter it is what in the past to solve
A kind of all fixed cutter of the stone material of hardness, now selects different cutters according to different hardness, meets adding for different hardness stone material
Work requirement.
Above example is not limited to the embodiment technical scheme of itself, can be incorporated between embodiment new
Embodiment.The above embodiments are merely illustrative of the technical solutions of the present invention and is not limited, all without departing from the present invention
Any modification of spirit and scope or equivalent substitution, it all should cover in the range of technical solution of the present invention.
Claims (7)
1. a kind of High Precision Automatic processing technology with stone texture identification function, it is characterised in that include：
A, preparation manufacturing procedure：Stone material gripping step, grips stone material, and plane machining, display are carried out to stone material by cutter
Texture；
B, stone texture identification process：The texture picture of stone material work surface is caught by image identification system, is known in image
The reference pictures of some textures are stored in other system, and match machining path and process corresponding to every kind of reference pictures, catching
Texture picture and the reference pictures grasped are contrasted；
C, manufacturing procedure is generated：Procedure of processing is generated, the texture picture found out and captured according to the numerical value of similarity is closest
Reference pictures, machining path and process according to corresponding to reference pictures determine the processing mode of stone material to be processed；Processing step
Suddenly, cutter is controlled to carry out processing of stone according to the processing mode of setting by robot.
2. a kind of High Precision Automatic processing technology with stone texture identification function according to claim 1, its feature
It is, described image identifying system catches the grain picture of stone material work surface by the video camera being arranged in robot
Face.
3. a kind of High Precision Automatic processing technology with stone texture identification function according to claim 2, its feature
It is, the stone material to be processed includes at least two work surfaces, and the quantity of video camera is no less than the number of work surface
Amount.
4. a kind of High Precision Automatic processing technology with stone texture identification function according to claim 1, its feature
It is, the generation procedure of processing includes texture picture being divided into several regions that can be planned by coordinate system, passes through identification
The quantity of grain lines in each region, the region that selection does not include grain lines form a continuous path and formed
Machining path.
5. a kind of High Precision Automatic processing technology with stone texture identification function according to claim 1, its feature
It is, the generation procedure of processing includes texture picture being divided into several regions that can be planned by coordinate system, passes through identification
The quantity of grain lines in each region, using the solution method of combinatorial optimization problem come calculate continuously, on path it is each
The machining path of grain lines minimum number included by region.
6. a kind of High Precision Automatic processing technology with stone texture identification function according to claim 4 or 5, it is special
Sign is that the region division of the texture picture arranges according to rectangle or triangular mesh.
7. a kind of High Precision Automatic processing technology with stone texture identification function according to claim 1, its feature
It is, the robot carries out tool changing by rotating tool magazine, and each cutter on tool magazine corresponds to different hardness sections, and tool magazine leads to
Cross and rotate the cutter for switching corresponding hardness section to match the actual hardness of stone material.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112462688A (en) * | 2020-12-01 | 2021-03-09 | 上海维宏电子科技股份有限公司 | Method, system, device, processor and storage medium for achieving cutter path planning single drill package for numerical control six-face drilling cutting machine |
| CN112644211A (en) * | 2020-12-23 | 2021-04-13 | 江苏园上园智能科技有限公司 | Automatic carving control system and control method based on hardness detection |
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| ES2372190A1 (en) * | 2010-02-08 | 2012-01-17 | David Güimil Vázquez | Procedure for the obtaining of prototype of piece, ceramic piece mold and the piece obtained with such procedure. (Machine-translation by Google Translate, not legally binding) |
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| CN112644211B (en) * | 2020-12-23 | 2023-03-14 | 江苏园上园智能科技有限公司 | Automatic carving control system and control method based on hardness detection |
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| CN107471890B (en) | 2019-11-05 |
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