CN107657641A - A kind of intelligent stone cutting method based on machine vision - Google Patents
A kind of intelligent stone cutting method based on machine vision Download PDFInfo
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- CN107657641A CN107657641A CN201610591893.0A CN201610591893A CN107657641A CN 107657641 A CN107657641 A CN 107657641A CN 201610591893 A CN201610591893 A CN 201610591893A CN 107657641 A CN107657641 A CN 107657641A
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- 239000004575 stone Substances 0.000 title claims abstract description 115
- 238000005520 cutting process Methods 0.000 title claims abstract description 96
- 238000000034 method Methods 0.000 title claims abstract description 40
- 239000000463 material Substances 0.000 claims abstract description 98
- 238000003754 machining Methods 0.000 claims abstract description 9
- 238000012937 correction Methods 0.000 claims description 10
- 238000004519 manufacturing process Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 7
- 239000011159 matrix material Substances 0.000 claims description 6
- 230000007704 transition Effects 0.000 claims description 5
- 238000012706 support-vector machine Methods 0.000 claims description 4
- 239000000178 monomer Substances 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 4
- 239000000203 mixture Substances 0.000 description 3
- 101100008046 Caenorhabditis elegans cut-2 gene Proteins 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000007514 turning Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/80—Geometric correction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
- B28D1/22—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by cutting, e.g. incising
- B28D1/24—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by cutting, e.g. incising with cutting discs
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30132—Masonry; Concrete
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- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Processing Of Stones Or Stones Resemblance Materials (AREA)
Abstract
The present invention relates to the intelligent stone cutting method based on machine vision, comprise the following steps：(1), industrial camera is demarcated；(2), order parses；(3) image, is obtained；(4), stone material contours extract；(5), typesetting is cut；(6), machining information real-time statistics.This method can effectively substitute Bartlit cutting need artificial nucleus to order, need manual measurement slabstone, need to manually formulate typesetting cutting scheme, need manually to knife cutting, need to manually count the series of processes such as machining information, be truly realized intelligent, efficient, reliable and stable stone material automation cutting.
Description
Technical field
The invention belongs to stone material cutting technique field, is related to a kind of stone cutting method, more particularly to one kind is based on machine
The intelligent stone cutting method of vision.
Background technology
Stone material is in use, it is necessary to be cut, to meet the different demands of shapes and sizes etc..But at present,
Using makita 4100NH cutting stone material before, it is necessary to which manual measurement stone material size, artificial to formulate then according to actual processing request
Typesetting scheme and cutting scheme, to ensure the high usage of whole stone material.In the process, waste time and energy, and precision is relatively low, holds
Easily there is human error, so that typesetting and cutting scheme tend not to be optimal.
In view of the above-mentioned technological deficiency of prior art, there is an urgent need to develop a kind of new stone cutting method.
The content of the invention
It is an object of the invention to overcome shortcoming present in prior art, there is provided a kind of intelligent stone based on machine vision
Material cutting method, this method can effectively substitute Bartlit cutting to need artificial nucleus to order, need manual measurement slabstone, need to manually make
Determine typesetting cutting scheme, need manually to knife cutting, need to manually count the series of processes such as machining information, be truly realized intelligence,
Efficiently, reliable and stable stone material automation cutting.
To achieve these goals, the present invention provides following technical scheme：A kind of intelligent stone material based on machine vision is cut
Segmentation method, it is characterised in that comprise the following steps：
(1), industrial camera is demarcated：Scaling board is lain against on work base frame, industrial computer sends instructions to PLC controls
Device, drives cutting machine motion under the control of the PLC, and the industrial camera for making to be fixed on the cutting machine moves to
The surface of the work base frame, the image of the scaling board is shot, carry out distortion correction, obtained distortion factor, then obtain
The front view of the scaling board and the transition matrix for obtaining the front view, store calibrating parameters afterwards；
(2), order parses：Stone material involved in Fabrication Order is treated to be classified, sorted；Formulated according to ranking results
The feeding order and process sequence of involved stone material in order；
(3) image, is obtained：The industrial computer sends instruction, makes control of the cutting machine in the PLC
Work base frame when stone material is not placed in the lower surface for driving the industrial camera to move to the work base frame, shooting
Image；Then, the stone material to be processed is placed on the work base frame, again shooting image；Finally, to shooting twice
Image carry out distortion correction, obtain respectively the work base frame do not place stone material and place stone material when front view；
(4), stone material contours extract：First, front view when not placing stone material according to the work base frame and placing stone material
Tentatively obtain the profile of the stone material；Then, the profile of the high accuracy of the stone material is further obtained；Finally, as needed,
Manually correct the profile of the stone material；
(5), typesetting is cut：First, rectangle is inscribed in the maximum for calculating the profile of the stone material, determines one layout region；Then,
Based on the one layout region and Fabrication Order, the typesetting scheme that can complete to impose uniformity without examining individual cases is formulated, and plan cutting path；Finally,
The industrial computer sends cutting path to the PLC, and the PLC controls the cutting machine to the stone
Material is cut；
(6), machining information real-time statistics：During cutting, the order and its processing quantity for having completed cutting are entered
Row statistics, and real-time update is carried out to the state of order.
Further, wherein, the scaling board used is the chessboard of the big picture of high accuracy in the industrial camera demarcation
Case marker fixed board, also, distortion correction is carried out using panorama picture of fisheye lens model in the industrial camera calibration process, obtain abnormal
Variable coefficient, and obtain the front view of the scaling board using perspective projection and obtain the transition matrix of front view, then store
Calibrating parameters.
Further, wherein, the order resolves to：According to the thickness of stone material material and stone material involved in order
Order is classified, descending sort is carried out according to the size of monomer area to the order in same class, and according to ranking results
Formulate the feeding order and process sequence of stone material involved in order.
Yet further, wherein, the contours extract is：First, background modeling is tentatively obtained based on mixed Gauss model
Take stone material profile；Then, the high accuracy of the stone material is further obtained using the contours extract algorithm based on SVMs
Profile；Finally, as needed, the profile of the stone material is manually corrected.
Diced system includes work base frame, work used by the intelligent stone cutting method based on machine vision of the present invention
Computer and PLC are controlled, places slabstone to be cut on the work base frame, the both sides of the work base frame are respectively arranged with
One cutting machine side bar, a beam guideway each is both provided with the cutting machine side bar, is set on two beam guideways
There is a crossbeam, the crossbeam is provided with longeron, and the longeron is provided with feeding sucker manipulator and cutting machine, the cutting machine
Upper end be provided with support, the support is provided with light source and industrial camera, and the industrial camera is connected with the industrial computer,
The industrial computer is connected with the PLC, and the PLC is connected with the driver of the cutting machine.
Compared with existing stone cutting method, the intelligent stone cutting method of the invention based on machine vision has such as
Lower advantageous effects：
1st, order can be poured into diced system and parse order data automatically by it, and stone material is determined according to analysis result
Feeding order and Order Processing order, without manual intervention.
2nd, which employs intelligent high-accurate outline identification technology, successfully solves the slabstone profile high accuracy under complex background
Extraction problem.
3rd, its on the basis of stone material contours extract is completed, successfully instead of it is artificial calculate one layout region, artificial typesetting and
Artificial cutting, realize comprehensive intelligent, automation cutting.
4th, it can carry out real-time statistics to cutting information, carry out real-time update to order, for automatic packaging from now on, match somebody with somebody
Goods, realize that the comprehensive automation of whole streamline is laid a good foundation.
5th, it can reduce cost of labor, improve stone material utilization rate, improve cutting efficiency, and possess machining information to recall
Function.
Brief description of the drawings
Fig. 1 be the present invention the intelligent stone cutting method based on machine vision used by diced system composition signal
Figure.
Fig. 2 is the schematic flow sheet of the intelligent stone cutting method based on machine vision of the present invention.
Embodiment
The present invention is further described with reference to the accompanying drawings and examples, and the content of embodiment is not as the guarantor to the present invention
Protect the limitation of scope.
Before the intelligent stone cutting method based on machine vision of the present invention is introduced, first introduce used in this method
Diced system.
Fig. 1 show the present invention the intelligent stone cutting method based on machine vision used by diced system composition
Schematic diagram.As shown in figure 1, the intelligent stone material diced system based on machine vision of the present invention includes work base frame 1, industry control calculates
Machine 12 and PLC 13.Wherein, stone material 2 to be cut can be placed on the work base frame 1.Preferably, the work base frame 1
Formed by wood board splicing.
The both sides of the work base frame 1 are respectively arranged with a cutting machine side bar 3.On each cutting machine side bar 3
It is provided with a beam guideway 4.Two beam guideways 4 are provided with a crossbeam 5.The crossbeam 5 can be along the crossbeam
Guide rail 4 is movable.
The crossbeam 5 is provided with longeron 6.The longeron 6 can move left and right along the crossbeam 5.
The longeron 6 is provided with feeding sucker manipulator 7 and cutting machine 8.The feeding sucker manipulator 7 is used to draw stone
Material, to realize the movement of stone material.The cutting machine 8 is used for the cutting for realizing stone material.Preferably, the lower end of the cutting machine 8 is set
There is circular cutter, the cutting of the stone material to be cut 2 is realized by the circular cutter.The cutting machine 8 can be indulged along described
Beam 6 moves up and down.So, the cutting machine 8 can be carried out relative to the stone material to be cut 2 being placed on the work base frame 1
Around and move up and down.
In addition, the upper end of the cutting machine 8 is provided with support 9.The support 9 is provided with light source 10 and industrial camera 11.Institute
State the image that industrial camera 11 is used to obtain cutting zone.Preferably, the industrial camera 11 is furnished with wide-angle lens.The light source
10 are used to carry out light filling to shooting area, to reduce influence of the ambient light to shooting, so as to obtain the image of high quality.It is preferred that
Ground, the light source 10 are LED light source.
The industrial camera 11 is connected with the industrial computer 12, so as to which the picture transfer of the high quality of acquisition is arrived
The industrial computer 12, cutting path is planned according to the picture by the industrial computer 12.The industrial computer 12
It is connected with the PLC 13, the cutting path instruction of planning is transferred to the PLC 13.Further, it is possible to will
Fabrication Order data are imported into the industrial computer 12 by USB flash disk or network etc..The PLC 13 and the cutting
The driver of machine 8 is connected, to control the driver of the cutting machine 8 according to the instruction from the industrial computer 12, so as to
Realize cutting.
Preferably, the crossbeam 5 is provided with the horizontal drive for driving the crossbeam 5 to be moved forward and backward along the beam guideway 4
Dynamic device.The longeron 6 is provided with the longitudinal drive for driving the longeron 6 to be moved left and right along the crossbeam 5.The cutting machine
8 are provided with the driver up and down for driving the cutting machine 8 to be moved up and down along the longeron 6.Also, the traverse driver,
Longitudinal drive and upper and lower driver are all connected with the PLC 13.So, the PLC 13 can be according to next
From the order-driven traverse driver of the industrial computer 12, longitudinal drive and upper and lower driver, so as to by the cutting
Suitable location of cut is arrived in the driving of machine 8, to realize correctly cutting.
Fig. 2 shows the schematic flow sheet of the intelligent stone cutting method based on machine vision of the present invention.Such as Fig. 2 institutes
Show, the intelligent stone cutting method of the invention based on machine vision comprises the following steps：
First, industrial camera is demarcated.
Before being cut, industrial camera demarcation is carried out first, to cause the picture more standard obtained.In the present invention
In, when carrying out industrial camera demarcation, scaling board is lain against on the work base frame 1, then, the industrial computer 12 is sent
Instruct to the PLC 13, drive the cutting machine 8 to move under the control of the PLC 13, make to be fixed on institute
The surface that the industrial camera 11 on cutting machine 8 moves to the work base frame 1 is stated, shoots the image of the scaling board.
Afterwards, distortion correction is carried out to the image of the scaling board, obtains distortion factor.Then, the front view of the scaling board is obtained
And obtain the transition matrix of the front view.Finally, calibrating parameters are stored.
In the present invention, it is preferred to gridiron pattern scaling board of the scaling board for the big picture of high accuracy.Also, shooting institute
Stating the image of scaling board includes obtaining the angle point image coordinate and angle point physical coordinates of the scaling board, and is based on the scaling board
Angle point image coordinate and angle point physical coordinates the industrial camera 11 is demarcated.Certainly, in order to obtain accurate demarcation
Parameter, the image of the scaling board can be carried out using panorama picture of fisheye lens model in the industrial camera calibration process abnormal
Become correction, obtain distortion factor, and obtain the front view of the scaling board using perspective projection and obtain turning for front view
Change matrix.Afterwards, accurate calibrating parameters are obtained and store calibrating parameters.
2nd, order parses.
Order to be processed can be poured into the industrial computer 12 by USB flash disk or network, be calculated by the industry control
Machine 12 treats stone material involved in Fabrication Order and is classified, sorted；Stone involved in order is formulated according to ranking results
The feeding order and process sequence of material.
In the present invention, it is preferred in order resolving, first, according to stone material material involved in order and
The thickness of stone material is classified to order.Then, descending sort is carried out according to the size of monomer area to the order in same class.
Finally, the feeding order and process sequence of stone material involved in order are formulated according to ranking results.
3rd, image is obtained.
The industrial computer 12 sends instruction, the cutting machine 8 is driven institute under the control of the PLC 13
The surface that industrial camera 11 moves to the work base frame 1 is stated, shoots the work base frame 1 when not placing stone material 2 first
Image.Then, the stone material 2 to be processed is placed on the work base frame 1, again shooting image.Finally, to twice
The image of shooting carries out distortion correction, obtains the front view when work base frame 1 does not place stone material 2 and places stone material 2 respectively.
In the present invention, equally distortion correction can be carried out to the image shot twice using panorama picture of fisheye lens model,
Obtain distortion factor.Also, it can equally utilize perspective projection to obtain the work base frame 1 not placing stone material 2 and place stone
Front view during material 2.
4th, stone material contours extract.
First, front view when not placed stone material 2 based on the work base frame 1 and placed stone material 2 tentatively obtains the stone
The profile of material 2.Then, the profile of the high accuracy of the stone material 2 is further obtained.Finally, as needed, can be manually
Correct the profile of the stone material 2.
In the present invention, it is preferred to front view when not placing stone material 2 according to the work base frame 1 and placing stone material 2,
It is preliminary to obtain stone material profile based on mixed Gauss model to background modeling.And, it is preferable that using based on SVMs
Contours extract algorithm further obtains the profile of the high accuracy of the stone material.Finally, as needed, can manually correct
The profile of the stone material 2.So as to obtain the accurate profile of the stone material 2.
5th, typesetting is cut.
First, in the case where considering stone material thickness, automation plane survey is carried out, calculates the profile of the stone material 2
The inscribed rectangle of maximum, determines one layout region.Then, based on the one layout region and Fabrication Order, formulation can be completed to impose uniformity without examining individual cases
Typesetting scheme, and plan cutting path.Finally, the industrial computer 12 sends cutting path to the PLC 13,
The PLC 13 controls the cutting machine 8 to cut the stone material 2.
In the present invention, it is preferred to when formulating typesetting scheme, whether there can be decorative pattern trend according to slabstone, whether have
Bad block, select different layout algorithms to formulate the typesetting scheme that can complete to impose uniformity without examining individual cases, and plan optimal cutling path.
6th, machining information real-time statistics.
During cutting, the order and its processing quantity for having completed cutting are counted, and to the state of order
Carry out real-time update.Meanwhile process data can be recorded so that user can recall history process data.
Industrial camera equipped with wide-angle lens is fixed on by the intelligent stone cutting method based on machine vision of the present invention
On cutting machine, light filling is carried out to shooting area using LED light source, to reduce influence of the ambient light to shooting；Industrial computer control
Industrial camera processed obtains the image for the work base frame for not placing stone material, after stone material to be processed is placed on work base frame, work
Industry camera shooting image again, distortion correction is carried out to the image of shooting, obtains the front view picture in work base frame region, it is then right
Background is modeled, preliminary to obtain stone material profile, and the contours extract algorithm for being then based on SVMs further obtains Gao Zhun
The stone material profile of exactness；Rectangle is inscribed in the maximum for calculating stone material profile, determines one layout region；Ordered based on one layout region and processing
It is single, the scheme for the intelligent typesetting that can complete to impose uniformity without examining individual cases is formulated, and plan optimal cutling path；Computer send cutting path to
PLC control system, PLC control system control cutting machine are cut to stone material；During cutting, to having completed cutting
Order and its processing quantity are counted, and carry out real-time update to order status, and after the completion of cutting, machining information is united
Meter record, history machining information is recalled with standby user.As can be seen here, the intelligent stone material cutting side of the invention based on machine vision
Method can be based on machine vision and complete stone material outline identification, high-precision automatic measurement, intelligent typesetting, automation cutting and cutting
Information Statistics, realize intelligence, the stone material cutting of automation.
The above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not to the present invention
Embodiment restriction.For those of ordinary skill in the field, can also make on the basis of the above description
Other various forms of changes or variation.Here all embodiments can not be exhaustive.Every skill for belonging to the present invention
Row of the obvious changes or variations that art scheme is extended out still in protection scope of the present invention.
Claims (4)
1. a kind of intelligent stone cutting method based on machine vision, it is characterised in that comprise the following steps：
(1), industrial camera is demarcated：Scaling board is lain against on work base frame (1), industrial computer (12) sends instructions to PLC
Controller (13), cutting machine (8) motion is driven under the control of the PLC (13), makes to be fixed on the cutting machine (8)
On industrial camera (11) move to the surface of the work base frame (1), shoot the image of the scaling board, enter line distortion school
Just, distortion factor is obtained, the front view of the scaling board is then obtained and obtains the transition matrix of the front view, store afterwards
Calibrating parameters；
(2), order parses：Stone material involved in Fabrication Order is treated to be classified, sorted；Order is formulated according to ranking results
In involved stone material feeding order and process sequence；
(3) image, is obtained：The industrial computer (12) sends instruction, makes the cutting machine (8) in the PLC
(13) industrial camera (11) is driven to move to the surface of the work base frame (1) under control, stone material is not placed in shooting
(2) image of the work base frame (1) when；Then, the stone material (2) to be processed is placed into the work base frame (1)
On, shooting image again；Finally, distortion correction is carried out to the image shot twice, obtains the work base frame (1) respectively and do not put
Front view when putting stone material (2) and placing stone material (2)；
(4), stone material contours extract：First, when not placing stone material (2) according to the work base frame (1) and placing stone material (2) just
View tentatively obtains the profile of the stone material (2)；Then, the profile of the high accuracy of the stone material (2) is further obtained；Most
Afterwards, as needed, the profile of the stone material (2) is manually corrected；
(5), typesetting is cut：First, rectangle is inscribed in the maximum for calculating the profile of the stone material (2), determines one layout region；Then,
Based on the one layout region and Fabrication Order, the typesetting scheme that can complete to impose uniformity without examining individual cases is formulated, and plan cutting path；Finally,
The industrial computer (12) sends cutting path and gives the PLC (13), is cut described in PLC (13) control
Cutting mill (8) is cut to the stone material (2)；
(6), machining information real-time statistics：During cutting, the order and its processing quantity for having completed cutting are united
Meter, and real-time update is carried out to the state of order.
2. the intelligent stone cutting method based on machine vision according to claim 1, it is characterised in that the industrial camera
The scaling board used is the gridiron pattern scaling board of the big picture of high accuracy in demarcation, also, calibrated in the industrial camera
Distortion correction is carried out using panorama picture of fisheye lens model in journey, obtains distortion factor, and the mark is obtained using perspective projection
The front view of fixed board and the transition matrix for obtaining front view, then store calibrating parameters.
3. the intelligent stone cutting method according to claim 2 based on machine vision, it is characterised in that the order solution
Analyse and be：Order is classified according to the thickness of stone material material and stone material involved in order, the order in same class is pressed
Carry out descending sort according to the size of monomer area, and formulated according to ranking results stone material involved in order feeding order and
Process sequence.
4. the intelligent stone cutting method according to claim 3 based on machine vision, it is characterised in that the profile carries
It is taken as：First, it is preliminary to obtain stone material profile based on mixed Gauss model to background modeling；Then, using based on SVMs
Contours extract algorithm further obtain the stone material high accuracy profile；Finally, as needed, institute is manually corrected
State the profile of stone material (2).
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Cited By (16)
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|---|---|---|---|---|
| CN108875740A (en) * | 2018-06-15 | 2018-11-23 | 浙江大学 | A kind of machine vision cutting method applied to laser cutting machine |
| CN109697715A (en) * | 2018-12-11 | 2019-04-30 | 厦门链石网络科技股份有限公司 | A kind of virtual composition method of large stone material plate |
| CN109773994A (en) * | 2019-01-31 | 2019-05-21 | 云浮中科石材创新科技有限公司 | A kind of stone material automatic typesetting system and method |
| CN109808082A (en) * | 2019-03-27 | 2019-05-28 | 福建盛达机器股份公司 | A kind of bridge type stone cutting machine |
| CN109910180A (en) * | 2019-04-24 | 2019-06-21 | 华侨大学 | A kind of sawing method of the three-dimensional special-shaped stone material of circular saw roughing |
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| CN110936026A (en) * | 2018-09-21 | 2020-03-31 | 大族激光科技产业集团股份有限公司 | Cutting method, cutting device, cutting equipment and storage medium for plate excess material |
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| CN112140354A (en) * | 2019-06-27 | 2020-12-29 | 厦门链石网络科技股份有限公司 | Typesetting method for large stone slab |
| CN112847392A (en) * | 2020-12-30 | 2021-05-28 | 深兰人工智能芯片研究院（江苏）有限公司 | Manipulator control method, device, equipment and computer readable storage medium |
| CN113313664A (en) * | 2020-02-07 | 2021-08-27 | 财团法人石材暨资源产业研究发展中心 | Stone image analysis method based on stone processing |
| CN114619151A (en) * | 2022-01-20 | 2022-06-14 | 大族激光科技产业集团股份有限公司 | Laser processing control method and device and readable storage medium |
| CN114619135A (en) * | 2022-03-14 | 2022-06-14 | 东莞市舟拓电路科技有限公司 | Automatic discernment pressfitting board size and equipment that cuts |
| CN114770629A (en) * | 2022-03-23 | 2022-07-22 | 荣成惠德环保科技有限公司 | Intelligent automatic whole kelp cutting and feeding system based on machine vision |
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