CN109954613A - Spraying method - Google Patents
Spraying method Download PDFInfo
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- CN109954613A CN109954613A CN201711425216.2A CN201711425216A CN109954613A CN 109954613 A CN109954613 A CN 109954613A CN 201711425216 A CN201711425216 A CN 201711425216A CN 109954613 A CN109954613 A CN 109954613A
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- sprayed
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- spraying
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
- B05B13/0457—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles specially designed for applying liquid or other fluent material to 3D-surfaces of the articles, e.g. by using several moving spray heads
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
Abstract
The invention discloses a kind of spraying methods, case obtains the image information of product to be sprayed by industrial camera component and laser line generator, and the threedimensional model of product to be sprayed on industrial camera component is associated with spray coating mechanical hand coordinate, the profile coordinate of threedimensional model can be converted to the motion profile coordinate of spray coating mechanical hand, the motion control program on industrial personal computer directly drives spray coating mechanical hand by the spraying profile that visual program is given to and sprayed along spraying profile operation.The present invention does not need specific fixture to realize the positioning of product to be sprayed, without writing motion control program in advance, replaces different fixture and motion control program without the difference because of product to be sprayed, versatility is extremely strong；And the technical program obtains image by industrial camera component automatically, and by the running track of coordinate conversion acquisition spray coating mechanical hand, and when spraying can compensate for the error due to tooling bring error and product itself, improves the precision of spraying.
Description
Technical field
The present invention relates to automation fields, more particularly, to a kind of spraying method.
Background technique
Traditional spray robot is all to have walked robot teaching track mostly, and robot is always good according to preparatory teaching
Program is sprayed, and sprayed product needs specific fixture location fit robot to be sprayed.It cannot be in real time according to product
Production otherness and adjust spraying profile in real time, it is generally not high so as to cause deposition accuracies.During practice, due to
Product is various, requires teaching one time for each different types of product, very big workload is brought to staff,
In can also because of product type it is different, need to redesign customization Special Fixture for Machining and positioned to product, fixture is set
It is high to count processing cost, the versatility of entire paint finishing is not strong.
Summary of the invention
Based on this, the invention reside in overcoming the prior art that particular jig is needed to treat sprayed product to be fixed, and spray
Precision is not high, and the not strong defect of versatility provides a kind of spraying method.Its technical solution is as follows:
A kind of spraying method, comprising:
Product to be sprayed is placed in conveyer belt, when product to be sprayed is moved to vision-based detection region, laser line generator is to production to be sprayed
Product carry out polishing, while treating sprayed product by industrial camera component and taking pictures, and obtain figure of the product to be sprayed at laser rays
The X-axis of picture and the data information of Z axis；
By the transmission speed V of the conveyer belt and frequency P that takes pictures of industrial camera component, can calculate between adjacent laser line
Away from S=V/P, the data information of the Y-axis of image of the product to be sprayed at laser rays is calculated by the interval S of adjacent laser line；
The point cloud data that three-dimensional information is formed in conjunction with the data information of the X-axis of image, Y-axis and Z axis, to obtain product to be sprayed
Three-dimensional modeling data；
Product to be sprayed is moved to spraying area by conveyer belt, data information and spray by the X-axis of image, Y-axis and Z axis
The relationship for applying manipulator carries out three-dimensional hand and eye calibrating, and the coordinate information of the X-axis of image, Y-axis and Z axis is converted to spray coating mechanical hand
Motion profile coordinate；
Depth image is converted by the point cloud data of three-dimensional information carry out the profile traces of product to be sprayed and extract, then by profile rail
Trace displacement forms spraying profile；
Industrial personal computer is according to the motion profile coordinate of spray coating mechanical hand, and driving spray coating mechanical hand is along spraying profile operation, completion spraying.
The technical program obtains the image information of product to be sprayed by industrial camera component and laser line generator, and by work
The threedimensional model of product to be sprayed is associated with spray coating mechanical hand coordinate on industry photomoduel, can be by the profile of threedimensional model
Coordinate is converted to the motion profile coordinate of spray coating mechanical hand, the spray that the motion control program on industrial personal computer is given to by visual program
Painting track directly drives spray coating mechanical hand and is sprayed along spraying profile operation.The technical program does not need specific fixture and comes in fact
The positioning of existing product to be sprayed, without writing motion control program in advance, more without the difference because of product to be sprayed
Different fixture and motion control program are changed, versatility is extremely strong；And the technical program is obtained automatically by industrial camera component
Image, and the running track for obtaining spray coating mechanical hand is converted by coordinate, when spraying, can compensate for due to tooling bring error
With the error of product itself, the precision of spraying is improved.
In one of the embodiments, the industrial camera component include industrial camera and be set to the industrial camera mirror
Optical filtering before head.
Specific step is as follows for the three-dimensional hand and eye calibrating in one of the embodiments:
Three-dimensional scaling block is placed in vision-based detection region, is taken pictures by industrial camera component to three-dimensional scaling block, obtains three
Tie up pixel coordinate (x, y, z) of at least three non-coplanar angle points on calibrating block image on three-dimensional point cloud；
The three-dimensional scaling block is moved to spray coating mechanical hand end by conveyer belt, by demarcating manually, obtains three-dimensional scaling block
On corresponding angle point coordinate (u, v, w)；
The changes in coordinates matrix R for calculating pixel coordinate to the spray coating mechanical hand end of three-dimensional point cloud is as follows
R=(x, y, z, 1)-1 (u, v, w, 1)；
The image pixel coordinates and spray coating mechanical hand end running track coordinate in industrial camera are completed by the transformation matrices R
Conversion.
The three-dimensional scaling block is pyramid-shaped three-dimensional calibrating block in one of the embodiments,.
It is taken pictures in one of the embodiments, by industrial camera component to three-dimensional scaling block, obtains three-dimensional scaling
Pixel coordinate (x, y, z) of each angle point on three-dimensional point cloud on block image；The three-dimensional scaling block is moved to by conveyer belt
Spray coating mechanical hand end obtains the coordinate (u, v, w) of each angle point on three-dimensional scaling block by demarcating manually.
In one of the embodiments, the industrial camera component by sensor sensing to product to be sprayed in place after,
Sprayed product is treated to take pictures.
The sensor is optoelectronic switch in one of the embodiments,.
It in one of the embodiments, further include carrying out spline curve to the profile traces obtained from depth image to intend
It closes, forms smoothed curve profile information.
The spline curve fitting is fitted using Quadric spline curve in one of the embodiments,.
Specific step is as follows for the Quadric spline curve fitting in one of the embodiments:
Determine Quadric spline curve fitting formula: D(x)=Ax+Bx+Cx (0≤x≤1)；
Obtain three point D in the contour edge of spraying pattern1、D2、D3Coordinate, wherein D1For the starting point of the contour edge, D3
For the terminal of the contour edge, as x=0.5, the contour edge crosses D2Point, and tangent vector is D3-D1；Pass through D1、D2、D3
It determines the value of A, B, C, completes Quadric spline curve fitting.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention more comprehensible, below in conjunction with specific embodiment, to this
Invention is described in further detail.It should be understood that the specific embodiments described herein are only to explain this hair
It is bright, and the scope of protection of the present invention is not limited.
A kind of spraying method, comprising:
Product to be sprayed is placed in conveyer belt, when product to be sprayed is moved to vision-based detection region, laser line generator is to production to be sprayed
Product carry out polishing, while treating sprayed product by industrial camera component and taking pictures, and obtain figure of the product to be sprayed at laser rays
The X-axis of picture and the data information of Z axis；And the image-forming principle of industrial camera component is triangle image-forming principle.I.e. industrial camera component,
Laser line generator and laser rays three complete triangle imaging.The wavelength of laser line generator described in present embodiment is 660nm.
By the transmission speed V of the conveyer belt and frequency P that takes pictures of industrial camera component, adjacent laser line can be calculated
Interval S=V/P, the data of the Y-axis of image of the product to be sprayed at laser rays are calculated by the interval S of adjacent laser line
Information；
The point cloud data that three-dimensional information is formed in conjunction with the data information of the X-axis of image, Y-axis and Z axis, to obtain product to be sprayed
Three-dimensional modeling data；
Product to be sprayed is moved to spraying area by conveyer belt, data information and spray by the X-axis of image, Y-axis and Z axis
The relationship for applying manipulator carries out three-dimensional hand and eye calibrating, and the coordinate information of the X-axis of image, Y-axis and Z axis is converted to spray coating mechanical hand
Motion profile coordinate；
Depth image is converted by the point cloud data of three-dimensional information carry out the profile traces of product to be sprayed and extract, then by profile rail
Trace displacement forms spraying profile；Wherein depth image refers to corresponding to the grayscale information on image into product respective point to be sprayed
Elevation information.
Industrial personal computer is according to the motion profile coordinate of spray coating mechanical hand, and driving spray coating mechanical hand is along spraying profile operation, completion
Spraying.
Present embodiment obtains the image information of product to be sprayed by industrial camera component and laser line generator, and by work
The threedimensional model of product to be sprayed is associated with spray coating mechanical hand coordinate on industry photomoduel, can be by the profile of threedimensional model
Coordinate is converted to the motion profile coordinate of spray coating mechanical hand, the spray that the motion control program on industrial personal computer is given to by visual program
Painting track directly drives spray coating mechanical hand and is sprayed along spraying profile operation.The technical program real-time three-dimensional is rebuild, and is solved
Only difference in height and the spraying problem of the product of solid colour, due to solid colour, without gray scale difference, thus flat image algorithm
It can not solve and obtain the spraying profile of product.Specific fixture is not needed to realize the positioning of product to be sprayed, without preparatory
Motion control program is write, replaces different fixture and motion control program without the difference because of product to be sprayed,
Can Flexible Production, compatible multi-assortment production, versatility is extremely strong；And present embodiment is obtained automatically by industrial camera component
Image, and the running track for obtaining spray coating mechanical hand is converted by coordinate, when spraying, can compensate for due to tooling bring error
With the error of product itself, the precision of spraying is improved.
Industrial camera component described in present embodiment includes industrial camera and before the industrial camera lens
Optical filtering.The optical filtering can only identify the laser rays of laser line generator transmitting, guarantee image acquired in industrial camera component
Precision avoids industrial camera from being interfered by external light source.
Specific step is as follows for three-dimensional hand and eye calibrating described in present embodiment:
Three-dimensional scaling block is placed in vision-based detection region, is taken pictures by industrial camera component to three-dimensional scaling block, obtains three
Tie up pixel coordinate (x, y, z) of at least three non-coplanar angle points on calibrating block image on three-dimensional point cloud；
The three-dimensional scaling block is moved to spray coating mechanical hand end by conveyer belt, by demarcating manually, obtains three-dimensional scaling block
On corresponding angle point coordinate (u, v, w)；
The changes in coordinates matrix R for calculating pixel coordinate to the spray coating mechanical hand end of three-dimensional point cloud is as follows
R=(x, y, z, 1)-1(u, v, w, 1)；
The image pixel coordinates and spray coating mechanical hand end running track coordinate in industrial camera are completed by the transformation matrices R
Conversion.
Present embodiment obtains the pixel coordinate of the no less than image of three points by three-dimensional scaling block respectively, and corresponding
The coordinate of spray coating mechanical hand end obtain the value of transformation matrices R；For example, present embodiment uses three cloud pixel coordinates
(x1, y1, z1), (x2, y2, z2), (x3, y3, z3)；The coordinate (u1, v1, w1) of corresponding spray coating mechanical hand end, (u2, v2,
W2), (u3, v3, w3).
The image pixel coordinates and laser end running track coordinate in industrial camera are completed by the transformation matrices R
Conversion, i.e. (x, y, z, 1)=(u, v, w, 1) R.
Three-dimensional scaling block described in present embodiment is pyramid-shaped three-dimensional calibrating block, pyramid-shaped three-dimensional calibrating block calibration essence
Du Genggao.
In other embodiments, it is taken pictures by industrial camera component to three-dimensional scaling block, obtains three-dimensional scaling block
Pixel coordinate (x, y, z) of each angle point on three-dimensional point cloud on image；The three-dimensional scaling block is moved to spray by conveyer belt
Arm end is applied, by demarcating manually, obtains the coordinate (u, v, w) of each angle point on three-dimensional scaling block.The angle point of acquisition
More, precision is higher.
It is described in order to guarantee precision that industrial camera is taken pictures since product to be sprayed is placed on conveyer belt in motion state
Industrial camera by sensor sensing to product to be sprayed be moved to vision-based detection region and completely in place after, treat sprayed product
It takes pictures.Also, in present embodiment, motion state of the conveyer belt in vision-based detection region is uniform motion, is being sprayed
Region then stop motion is applied, continues at the uniform velocity transmission product after spraying.Sensor described in present embodiment is optoelectronic switch.
Present embodiment further includes carrying out spline curve fitting to the profile traces obtained from depth image, is formed smooth
Curved profile information.Due to industrial camera take pictures the product contour edge directly acquired information be it is rough, influence final
Deposition accuracies, thus treat sprayed product contour edge information carry out spline curve fitting, formed smoothed curve profile information,
Improve deposition accuracies
The spline curve fitting includes the spline curve of Quadric spline curve fitting, cubic spline interpolation or other forms
Fitting, present embodiment are fitted using Quadric spline curve, and fitting is not difficult, and can satisfy the demand of present embodiment.
Specific step is as follows for the Quadric spline curve fitting:
Determine Quadric spline curve fitting formula: D(x)=Ax+Bx+Cx (0≤x≤1)；
Obtain three point D in the contour edge of spraying pattern1、D2、D3Coordinate, wherein D1For the starting point of the contour edge, D3
For the terminal of the contour edge, as x=0.5, the contour edge crosses D2Point, and tangent vector is D3-D1；Pass through D1、D2、D3
It determines the value of A, B, C, completes Quadric spline curve fitting.
Present embodiment can also carry out soft limit to the motion profile of spray coating mechanical hand end, and spray coating mechanical hand end is arranged
Motion profile threshold value in all directions.Position where the coordinate points of threshold value described in present embodiment is no more than spraying area
Planar range.I.e. the motion profile of spray coating mechanical hand end will be limited within the scope of spraying area, prevent because it is unexpected or
Parts thereof fails and spray coating mechanical hand end is caused to be sprayed outside spraying area, ensure that the person peace of staff
Entirely.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of spraying method characterized by comprising
Product to be sprayed is placed in conveyer belt, when product to be sprayed is moved to vision-based detection region, laser line generator is to production to be sprayed
Product carry out polishing, while treating sprayed product by industrial camera component and taking pictures, and obtain figure of the product to be sprayed at laser rays
The X-axis of picture and the data information of Z axis；
By the transmission speed V of the conveyer belt and frequency P that takes pictures of industrial camera component, can calculate between adjacent laser line
Away from S=V/P, the data information of the Y-axis of image of the product to be sprayed at laser rays is calculated by the interval S of adjacent laser line；
The point cloud data that three-dimensional information is formed in conjunction with the data information of the X-axis of image, Y-axis and Z axis, to obtain product to be sprayed
Three-dimensional modeling data；
Product to be sprayed is moved to spraying area by conveyer belt, data information and spray by the X-axis of image, Y-axis and Z axis
The relationship for applying manipulator carries out three-dimensional hand and eye calibrating, and the coordinate information of the X-axis of image, Y-axis and Z axis is converted to spray coating mechanical hand
Motion profile coordinate；
Depth image is converted by the point cloud data of three-dimensional information carry out the profile traces of product to be sprayed and extract, then by profile rail
Trace displacement forms spraying profile；
Industrial personal computer is according to the motion profile coordinate of spray coating mechanical hand, and driving spray coating mechanical hand is along spraying profile operation, completion spraying.
2. spraying method according to claim 1, which is characterized in that the industrial camera component include industrial camera and
Optical filtering before the industrial camera lens.
3. spraying method according to claim 1, which is characterized in that specific step is as follows for the three-dimensional hand and eye calibrating:
Three-dimensional scaling block is placed in vision-based detection region, is taken pictures by industrial camera component to three-dimensional scaling block, obtains three
Tie up pixel coordinate (x, y, z) of at least three non-coplanar angle points on calibrating block image on three-dimensional point cloud；
The three-dimensional scaling block is moved to spray coating mechanical hand end by conveyer belt, by demarcating manually, obtains three-dimensional scaling block
On corresponding angle point coordinate (u, v, w)；
The changes in coordinates matrix R for calculating pixel coordinate to the spray coating mechanical hand end of three-dimensional point cloud is as follows
R=(x, y, z, 1)-1 (u, v, w, 1)；
The image pixel coordinates and spray coating mechanical hand end running track coordinate in industrial camera are completed by the transformation matrices R
Conversion.
4. spraying method according to claim 3, which is characterized in that the three-dimensional scaling block is pyramid-shaped three-dimensional calibration
Block.
5. spraying method according to claim 3, which is characterized in that carried out by industrial camera component to three-dimensional scaling block
It takes pictures, obtains pixel coordinate (x, y, z) of each angle point on three-dimensional point cloud on three-dimensional scaling block image；The three-dimensional scaling block
It is moved to spray coating mechanical hand end by conveyer belt, by demarcating manually, obtains the coordinate of each angle point on three-dimensional scaling block
(u, v, w).
6. spraying method according to claim 1, which is characterized in that the industrial camera component is arrived by sensor sensing
Product to be sprayed in place after, treat sprayed product and take pictures.
7. spraying method according to claim 6, which is characterized in that the sensor is optoelectronic switch.
8. spraying method according to claim 1-7, which is characterized in that further include being obtained to from depth image
Profile traces carry out spline curve fitting, formed smoothed curve profile information.
9. spraying method according to claim 8, which is characterized in that the spline curve fitting uses Quadric spline curve
Fitting.
10. spraying method according to claim 9, which is characterized in that the specific steps of the Quadric spline curve fitting
It is as follows:
Determine Quadric spline curve fitting formula: D(x)=Ax+Bx+Cx (0≤x≤1)；
Obtain three point D in the contour edge of spraying pattern1、D2、D3Coordinate, wherein D1For the starting point of the contour edge, D3
For the terminal of the contour edge, as x=0.5, the contour edge crosses D2Point, and tangent vector is D3-D1；Pass through D1、D2、D3
It determines the value of A, B, C, completes Quadric spline curve fitting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711425216.2A CN109954613A (en) | 2017-12-25 | 2017-12-25 | Spraying method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711425216.2A CN109954613A (en) | 2017-12-25 | 2017-12-25 | Spraying method |
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| CN109954613A true CN109954613A (en) | 2019-07-02 |
Family
ID=67021359
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110433989A (en) * | 2019-07-30 | 2019-11-12 | 天津普达软件技术有限公司 | A kind of method of workpiece surface spraying |
| CN110510888A (en) * | 2019-08-12 | 2019-11-29 | 东旭集团有限公司 | Curved surface spraying equipment and curved surface spraying method |
| CN110538766A (en) * | 2019-08-12 | 2019-12-06 | 苏州富强科技有限公司 | Height-based dispensing head closed-loop control method and system |
| CN112191467A (en) * | 2020-09-30 | 2021-01-08 | 库卡机器人(广东)有限公司 | Workpiece spraying method, workpiece spraying system and computer readable storage medium |
| CN112221890A (en) * | 2020-09-29 | 2021-01-15 | 广汽本田汽车有限公司 | Coating correction method and device |
| CN113189934A (en) * | 2021-05-11 | 2021-07-30 | 梅卡曼德（北京）机器人科技有限公司 | Trajectory generation method and apparatus, electronic device, storage medium, and 3D camera |
| CN113198691A (en) * | 2021-05-19 | 2021-08-03 | 飓蜂科技(苏州)有限公司 | High-precision large-view-field dispensing method and device based on 3D line laser and CCD |
| CN113198692A (en) * | 2021-05-19 | 2021-08-03 | 飓蜂科技(苏州)有限公司 | High-precision dispensing method and device suitable for batch products |
| CN114918083A (en) * | 2022-04-25 | 2022-08-19 | 青岛海尔科技有限公司 | Spraying control method and system, storage medium and electronic device |
| CN115122341A (en) * | 2022-08-31 | 2022-09-30 | 徐州芯特智能装备有限公司 | Automatic boxing method and boxing robot |
| WO2022237166A1 (en) * | 2021-05-11 | 2022-11-17 | 梅卡曼德（北京）机器人科技有限公司 | Trajectory generation method and apparatus, electronic device, storage medium, and 3d camera |
| CN116060269A (en) * | 2022-12-08 | 2023-05-05 | 中晟华越(郑州)智能科技有限公司 | Spraying method for loop-shaped product |
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- 2017-12-25 CN CN201711425216.2A patent/CN109954613A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110433989A (en) * | 2019-07-30 | 2019-11-12 | 天津普达软件技术有限公司 | A kind of method of workpiece surface spraying |
| CN110538766B (en) * | 2019-08-12 | 2021-08-24 | 苏州富强科技有限公司 | Height-based dispensing head closed-loop control method and system |
| CN110510888A (en) * | 2019-08-12 | 2019-11-29 | 东旭集团有限公司 | Curved surface spraying equipment and curved surface spraying method |
| CN110538766A (en) * | 2019-08-12 | 2019-12-06 | 苏州富强科技有限公司 | Height-based dispensing head closed-loop control method and system |
| CN112221890A (en) * | 2020-09-29 | 2021-01-15 | 广汽本田汽车有限公司 | Coating correction method and device |
| CN112191467B (en) * | 2020-09-30 | 2022-05-03 | 库卡机器人(广东)有限公司 | Workpiece spraying method, workpiece spraying system and computer readable storage medium |
| CN112191467A (en) * | 2020-09-30 | 2021-01-08 | 库卡机器人(广东)有限公司 | Workpiece spraying method, workpiece spraying system and computer readable storage medium |
| CN113189934A (en) * | 2021-05-11 | 2021-07-30 | 梅卡曼德（北京）机器人科技有限公司 | Trajectory generation method and apparatus, electronic device, storage medium, and 3D camera |
| WO2022237166A1 (en) * | 2021-05-11 | 2022-11-17 | 梅卡曼德（北京）机器人科技有限公司 | Trajectory generation method and apparatus, electronic device, storage medium, and 3d camera |
| CN113198691A (en) * | 2021-05-19 | 2021-08-03 | 飓蜂科技(苏州)有限公司 | High-precision large-view-field dispensing method and device based on 3D line laser and CCD |
| CN113198692A (en) * | 2021-05-19 | 2021-08-03 | 飓蜂科技(苏州)有限公司 | High-precision dispensing method and device suitable for batch products |
| CN113198691B (en) * | 2021-05-19 | 2022-06-17 | 飓蜂科技(苏州)有限公司 | High-precision large-view-field dispensing method and device based on 3D line laser and CCD |
| CN114918083A (en) * | 2022-04-25 | 2022-08-19 | 青岛海尔科技有限公司 | Spraying control method and system, storage medium and electronic device |
| CN115122341A (en) * | 2022-08-31 | 2022-09-30 | 徐州芯特智能装备有限公司 | Automatic boxing method and boxing robot |
| CN116060269A (en) * | 2022-12-08 | 2023-05-05 | 中晟华越(郑州)智能科技有限公司 | Spraying method for loop-shaped product |
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Application publication date: 20190702 |