CN110052704A - A kind of worktable of laser marking machine of pair of mark workpiece automatic positioning focusing - Google Patents
A kind of worktable of laser marking machine of pair of mark workpiece automatic positioning focusing Download PDFInfo
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- CN110052704A CN110052704A CN201910421685.XA CN201910421685A CN110052704A CN 110052704 A CN110052704 A CN 110052704A CN 201910421685 A CN201910421685 A CN 201910421685A CN 110052704 A CN110052704 A CN 110052704A
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- China
- Prior art keywords
- laser marking
- marking machine
- worktable
- light source
- annular light
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/03—Observing, e.g. monitoring, the workpiece
- B23K26/032—Observing, e.g. monitoring, the workpiece using optical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
- B23K26/046—Automatically focusing the laser beam
- B23K26/048—Automatically focusing the laser beam by controlling the distance between laser head and workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/362—Laser etching
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
The present invention provides the worktable of laser marking machine of a kind of pair of mark workpiece automatic positioning focusing, its structure includes laser marking machine main body, annular light source modulating system, binocular stereo vision hardware system, worktable of laser marking machine, the laser marking head of laser marking machine main body is mounted on worktable of laser marking machine, the binocular camera of laser marking both sides of head installation binocular stereo vision hardware system, the top of binocular camera is the annular light source of annular light source modulating system, is packaged with four groups of separately controllable four colored lights pearls in annular light source.The present invention is according to principle of parallax, the three-dimensional information of mark workpiece is obtained by Binocular Stereo Vision System in conjunction with image recognition and location technology, recycle the driving to the direction XYZ No. three motor, to move the position of laser head Yu mark workpiece, complete the feedback to the three-dimensional information of mark workpiece, and then realize the function of automatic identification positioning mark workpiece and automatic focusing, positioning accuracy is high, can be widely applied in laser marking industry.
Description
Technical field
The invention belongs to laser marking fields, and in particular to the laser marking machine of a kind of pair of mark workpiece automatic positioning focusing
Workbench.
Background technique
Laser marking machine is radiated at workpiece surface by generating the laser beam of high energy, and luminous energy is converted into thermal energy, in workpiece table
Face is in required character and graphic.Laser marking machine can be used for the neck such as garment accessories, medical packaging, Wines packing, architectural pottery
Domain can carve various metals and nonmetallic materials.But when laser marking machine is in industrial production at this stage, need operator
By virtue of experience manual focusing, mark workpiece need to beat in advance by feux rouges, find mark location using artificial, this makes mark precision
It is affected, mark effect is poor, is difficult to meet cambered surface workpiece or the different disposable mark demand of workpiece of gradient height, increases
Cost of labor causes working efficiency lower.
Summary of the invention
In view of the above-mentioned problems, the present invention provides the laser marking machine work of a kind of pair of mark workpiece automatic positioning focusing
Platform.
To achieve the above object, the worktable of laser marking machine of a kind of pair of mark workpiece automatic positioning focusing, structure packet
Include laser marking machine main body, annular light source modulating system, binocular stereo vision hardware system, worktable of laser marking machine, laser
The laser marking head 3 of marking machine main body is mounted on worktable of laser marking machine, and binocular tri-dimensional is installed in 3 two sides of laser marking head
Feel the binocular camera 6 of hardware system, the top of binocular camera 6 is the annular light source 5 of annular light source modulating system, annular light source 5
Inside it is packaged with four groups of separately controllable white, four colored lights pearls of red, green and blue, binocular camera 6, annular light source 5, laser marking machine work
Make platform to be connected with computer respectively.
The worktable of laser marking machine includes that height Z axis adjusts platform 10, horizontal Y direction scaling platform 9, horizontal X
Axis direction conveyer belt 8, the laser marking head 3 of the laser marking machine main body are mounted on height Z axis and adjust on platform 10, height Z
Axis adjusts platform 10 and is connected with horizontal Y direction scaling platform 9, is horizontal X axis direction conveyer belt below the laser marking head 3
8, worktable of laser marking machine is connected with the computer with XYZ axis direction electric machine control system.
The annular light source modulating system includes annular light source 5, the driving circuit for controlling lamp bead and single-chip microcontroller and image
Color feature extracted module, color of image characteristic extracting module pass through the binocular camera 6 of the binocular stereo vision hardware system
The colouring information of mark object is obtained, and the color of annular light source 5 is modulated.
The binocular stereo vision hardware system includes binocular camera 6, image processing system, and image processing system includes figure
As pretreatment, object detection and recognition, Stereo matching, three-dimensional information extraction, and to the XYZ axis of the worktable of laser marking machine
Direction electric machine control system feedback.
Described image pretreatment includes image grayscale processing, camera lens geometric distortion correction, image enhancement.
The object detection and recognition includes carrying out image based on Otsu thresholding method to carry out region segmentation and right
SURF feature and HOG feature histogram use Decision fusion to tagsort.
The beneficial effects of the present invention are:
The present invention provides the worktable of laser marking machine of a kind of pair of mark workpiece automatic positioning focusing, utilize annular light source
Modulation is turned up the contrast of acquisition picture, is divided by the two-dimensional image information to the collected mark workpiece of binocular camera
Analysis, obtains the location information of part to be done manual work in three dimensions, and pass through the conveyer belt to horizontal X axis direction, horizontal Y direction
The fixed scaling platform of laser head and vertical Z-direction laser head height adjustment platform driving motor control, realize
For the function of the automatic identification positioning and laser automatic focusing of mark workpiece；To the laser of mark workpiece automatic positioning focusing
Marking machine workbench structure is relatively simple, target identification and three-dimensional localization are accurate, automatic focusing precision is high, reduces cost of labor,
It can be widely applied in laser marking industry.With reference to the accompanying drawing and example the present invention will be further described.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is annular light source modulating system flow diagram of the present invention.
Fig. 3 is image processing system flow diagram of the present invention.
Fig. 4 is three tunnel motor control flow chart of XYZ axis of the present invention.
Specific embodiment:
The present invention will be further described with reference to the accompanying drawing:
Embodiment 1
There is the difficulty of focusing to solve existing laser marking machine, and improve mark efficiency, the present invention provides one kind
Automatic identification positions mark workpiece laser marking machine workbench.The technical scheme adopted by the invention is that: a kind of pair of mark workpiece
It is automatically positioned the worktable of laser marking machine of focusing, including laser marking machine main body, annular light source modulating system, binocular tri-dimensional
Feel system and marking machine workbench.The laser marking machine main body includes galvanometer head, field lens and laser marking head and ventilation
Mouthful.The annular light source modulating system includes that packing has the annular light source of white four colored lights pearl group of RGB, controls the driving of lamp bead
Circuit and single-chip microcontroller and color of image characteristic extracting module.The Binocular Stereo Vision System comprising annular modulated light source,
Binocular camera, the computer with image processing system Yu three road electric machine control system of XYZ axis direction.The laser marking work
Platform comprising horizontal X axis direction conveyer belt, the fixed scaling platform of laser head of horizontal Y direction and vertical Z-direction move
Lifting platform and motor-drive circuit.
The worktable of laser marking machine of a kind of pair of mark workpiece automatic positioning focusing provided by the invention, passes through binocular camera
Calibration result, in conjunction with two dimensional image processing result, completion obtains the three-dimensional information of mark workpiece, then passes through No. three motors
The function of automatic identification positioning mark workpiece and automatic focusing, packet are realized in movement of the control system to laser head and mark workpiece
Include following steps: camera calibration analyzes collected calibration picture using camera calibration program, obtains binocular camera
Inside and outside parameter.Modulation of source, using under white light workpiece acquire color of image feature extraction, by annular light source color modulation at
Workpiece solid colour, the contrast of Lai Zengqiang picture.Image preprocessing comprising gray proces, the correction of geometric distortion and height
This filtering reduces noise.Object detection and recognition comprising image region segmentation and right is carried out based on Otsu thresholding method
SURF feature and HOG feature histogram use Decision fusion to tagsort.Stereo matching and three-dimensional information obtain comprising base
The SAD cost obtained in the method for sampling calculates, the cost polymerization based on Dynamic Programming, the disparity computation based on WTA strategy and
Three-dimensional information extraction based on the estimation of POSIT algorithm pose.Three tunnel motor controls comprising host computer is using driving circuit to water
The transmission translator of flat X-direction controls, to the fixed scaling platform motor control of laser head of horizontal Y direction and vertical Z
The motor control of the laser head height adjustment platform of axis direction.And then it realizes and feedback regulation is carried out to the three-dimensional information of mark workpiece
Function.
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing and example, to this
Invention is further detailed.Specific implementation described herein is only used to explain the present invention, is not limited to the present invention.
With reference to Fig. 1, the present invention provides the worktable of laser marking machine of a kind of pair of mark workpiece automatic positioning focusing, including swashs
Light marking machine body interior structure includes being provided with radiator, power module and laser generator, and external includes that 1 galvanometer head is logical
Galvanometer deflection is overregulated to change scanning direction, 2 field lenses are installed thereunder to increase visual field, 3 laser marking heads and 4 ventilation openings；
Binocular Stereo Vision System has image processing system including 6 binocular cameras installed below 5 annular light sources, annular light source and 7
With the computer of electric machine control system；Working platform of laser marker machine, conveyer belt, 9 horizontal Y-axis sides including 8 horizontal X axis directions
To the fixed scaling platform of laser head, 10 vertical Z-directions laser head height adjustment platform and this No. three motor drive
Dynamic circuit.
With reference to Fig. 2, annular light source modulating system by the invention, by choosing the tune close to mark workpiece colour light source
System, the contrast of Lai Tigao image.The present invention utilizes and white, four colored lights pearl of red, green and blue is packaged in inside annular light source, and every group
Lamp can be used alone, and it is connected with driving circuit and single-chip microcontroller respectively.It is acquired under white light for the workpiece of different colours
Picture carry out color feature extracted, analyzed to color characteristic, according to obtained colouring information by pulse modulated
Mode controls the tonal gradation of three kinds of colors of red, green, blue, to realize that control light source colour is identical as workpiece color, so that workpiece
Brightness gets a promotion under the light source of modulation, and then realizes workpiece and the function that workbench conveyer belt background contrasts are promoted.When
When workpiece conveyor background and workpiece color are closer to, then light after the picture acquired when by program to white light and modulation
The picture contrast of source acquisition is compared, and the preferable picture of comparative selection degree carries out next step image procossing.
With reference to Fig. 3, the present invention is based on stereo visual systems, are illuminated using modulation annular light source to scene, provide compared with
Environment is acquired compared with hi-vision for bright and contrast, meter is transmitted to the collected mark workpiece picture of binocular camera by image
In calculation machine, image processing system is recycled, image is pre-processed, so that characteristics of image is more obvious, reduces noise；Utilize base
Image segmentation is carried out in Otsu thresholding method and SURF feature and HOG feature histogram divide feature using Decision fusion
Class can effectively promote computer disposal characteristics of image and identify the efficiency of workpiece；The SAD obtained using the method based on sampling
Cost calculates, the polymerization of cost based on Dynamic Programming, the disparity computation based on WTA strategy and based on the estimation of POSIT algorithm pose
The extraction of Stereo matching and three-dimensional information is completed, determines the coordinate information of mark workpiece three-dimensional position, and communicate information to
In three road electric machine control systems.
With reference to Fig. 4, three road electric machine control systems included by the present invention, the three-dimensional for utilizing Binocular Stereo Vision System to obtain
The relative position of information combination laser marking head and binocular camera calculates mark object by computer program and needs in level
X-axis, Y-axis, which need to move how many distance, gets to labelling head lower central position, while calculating vertical Z-direction and needing to move
Dynamic how many distances can just make mark workpiece be located at laser focal point position.Finally instruction is issued to single-chip microcontroller using computer to pass through
Driving circuit come the transmission translator of controlled level X-direction, horizontal Y direction the fixed scaling platform motor of laser head and
The motor of the laser head height adjustment platform of vertical Z-direction, realize laser marking machine automatic identification positioning mark object with from
The function of dynamic focusing.
Embodiment 2
The present invention provides the worktable of laser marking machine of a kind of pair of mark workpiece automatic positioning focusing, including laser marking
Owner's body comprising galvanometer head, field lens, laser marking head and ventilation opening；Annular light source modulating system comprising packing has Bai Hong
The annular light source of turquoise four colored lights pearl group, the driving circuit for controlling lamp bead and single-chip microcontroller and color of image characteristic extracting module；
Binocular Stereo Vision System, including modulate annular light source, binocular camera, have image processing system and the direction XYZ No. three motor
The computer of control system；Worktable of laser marking machine, including horizontal X axis direction conveyer belt, horizontal Y-axis drive laser head horizontal
Move scaling platform and vertical Z-direction movement lifting platform and motor-drive circuit.The present invention is according to principle of parallax, in conjunction with image
Identification obtains the three-dimensional information of mark workpiece by Binocular Stereo Vision System with location technology, recycles to three tunnel of the direction XYZ
The feedback to the three-dimensional information of mark workpiece, Jin Ershi are completed in the driving of motor, the position of Lai Yidong laser head and mark workpiece
The function of existing automatic identification positioning mark workpiece and automatic focusing, positioning accuracy is high, can be widely applied in laser marking industry.
The worktable of laser marking machine of a kind of pair of mark workpiece automatic positioning focusing, including laser marking machine main body, annular
Modulation of source system, binocular stereo vision hardware system and worktable of laser marking machine, the laser marking machine main body include vibration
Camera lens, field lens and laser marking head and ventilation opening, the annular light source modulating system include that packing has white four colored lights of RGB
The annular light source of pearl group, the driving circuit for controlling lamp bead and single-chip microcontroller and color of image characteristic extracting module, the binocular are vertical
Body vision system, including modulate annular light source, binocular camera, have three tunnel motor control of image processing system and XYZ axis direction
The computer of system, laser marking working table include horizontal X axis direction conveyer belt, horizontal Y-axis drive laser head horizontal movement stretch
Contracting platform and vertical Z-direction movement lifting platform and motor-drive circuit.
The three-dimensional information of mark object can be obtained using image recognition and location technology by binocular vision hardware system,
Again lead to the direction XYZ No. three motor the three-dimensional information of mark workpiece is fed back, Lai Shixian automatic identification position mark workpiece with
The function of laser automatic focusing.
The annular light source modulating system is luminance raising, raising under light identical with its color irradiation according to object
The principle for acquiring picture contrast, is modulated light source colour.
The Binocular Stereo Vision System, which is characterized in that image processing system include image preprocessing, target detection with
Identification, Stereo matching and three-dimensional information extraction.
Described image pretreatment is characterized in that including image grayscale processing, camera lens geometric distortion correction and image
Enhancing.
The object detection and recognition, it is characterised in that carry out region point including carrying out image based on Otsu thresholding method
It cuts and uses Decision fusion to tagsort SURF feature and HOG feature histogram.
Claims (6)
1. the worktable of laser marking machine of a kind of pair of mark workpiece automatic positioning focusing, structure include laser marking machine main body,
Annular light source modulating system, binocular stereo vision hardware system, worktable of laser marking machine, it is characterised in that: laser marking machine
The laser marking head (3) of main body is mounted on worktable of laser marking machine, and binocular stereo vision is installed in laser marking head (3) two sides
The binocular camera (6) of hardware system, the top of binocular camera (6) are the annular light source (5) of annular light source modulating system, ring light
Four groups of separately controllable white, four colored lights pearls of red, green and blue are packaged in source (5), binocular camera (6), swashs at annular light source (5)
Light marking machine workbench is connected with computer respectively.
2. the worktable of laser marking machine of a kind of pair of mark workpiece automatic positioning focusing according to claim 1, feature
Be: the worktable of laser marking machine includes that height Z axis adjusts platform (10), horizontal Y direction scaling platform (9), horizontal X
Axis direction conveyer belt (8), the laser marking head (3) of the laser marking machine main body are mounted on height Z axis and adjust on platform (10),
Height Z axis adjusts platform (10) and is connected with horizontal Y direction scaling platform (9), is horizontal X below the laser marking head (3)
Axis direction conveyer belt (8), worktable of laser marking machine are connected with the computer with XYZ axis direction electric machine control system.
3. the worktable of laser marking machine of a kind of pair of mark workpiece automatic positioning focusing according to claim 1, feature
Be: the annular light source modulating system includes annular light source (5), the driving circuit for controlling lamp bead and single-chip microcontroller and image face
Color characteristic extraction module, color of image characteristic extracting module pass through the binocular camera (6) of the binocular stereo vision hardware system
The colouring information of mark object is obtained, and the color of annular light source (5) is modulated.
4. the worktable of laser marking machine of a kind of pair of mark workpiece automatic positioning focusing according to claim 1, feature
Be: the binocular stereo vision hardware system includes binocular camera (6), image processing system, and image processing system includes figure
As pretreatment, object detection and recognition, Stereo matching, three-dimensional information extraction, and to the XYZ axis of the worktable of laser marking machine
Direction electric machine control system feedback.
5. the worktable of laser marking machine of a kind of pair of mark workpiece automatic positioning focusing according to claim 1 or 4, special
Sign is: described image pretreatment includes image grayscale processing, camera lens geometric distortion correction, image enhancement.
6. the worktable of laser marking machine of a kind of pair of mark workpiece automatic positioning focusing according to claim 1 or 4, special
Sign is: the object detection and recognition includes carrying out image based on Otsu thresholding method to carry out region segmentation and to SURF
Feature and HOG feature histogram use Decision fusion to tagsort.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910421685.XA CN110052704B (en) | 2019-05-21 | 2019-05-21 | Laser marking machine workbench capable of automatically positioning and focusing marked workpiece |
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|---|---|---|---|
| CN201910421685.XA CN110052704B (en) | 2019-05-21 | 2019-05-21 | Laser marking machine workbench capable of automatically positioning and focusing marked workpiece |
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| CN110052704A true CN110052704A (en) | 2019-07-26 |
| CN110052704B CN110052704B (en) | 2021-04-20 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110773875A (en) * | 2019-11-28 | 2020-02-11 | 广州新可激光设备有限公司 | Laser processing equipment adopting CCD (Charge coupled device) off-axis positioning and double-marking laser processing method thereof |
| CN112077452A (en) * | 2020-08-31 | 2020-12-15 | 广州新可激光设备有限公司 | Longitudinal and transverse coordinate correction method of laser marking system |
| CN112372143A (en) * | 2020-06-29 | 2021-02-19 | 浙江隐齿丽医学技术有限公司 | Laser marking method and system for shell-shaped tooth appliance |
| CN112894179A (en) * | 2021-01-14 | 2021-06-04 | 郑州市天正科技发展有限公司 | Ox horn ring hanger and laser processing equipment |
| CN113275757A (en) * | 2021-06-01 | 2021-08-20 | 伟本智能机电（上海）股份有限公司 | Fixed-focus laser marking floating mechanism |
| CN113487679A (en) * | 2021-06-29 | 2021-10-08 | 哈尔滨工程大学 | Visual ranging signal processing method for automatic focusing system of laser marking machine |
| CN113714624A (en) * | 2021-08-29 | 2021-11-30 | 南京晨光集团有限责任公司 | Focusing device for laser marking of electric connector |
| CN113771504A (en) * | 2021-10-09 | 2021-12-10 | 湖南省南北特食品有限公司 | Laser of portable spouts a yard equipment |
| CN114101921A (en) * | 2021-11-24 | 2022-03-01 | 上海航天设备制造总厂有限公司 | Electric connector marking machine based on automatic positioning function and marking method |
| CN115781060A (en) * | 2023-02-10 | 2023-03-14 | 广州三义激光科技有限公司 | Intelligent laser cutting equipment and method based on automatic image identification |
| CN117245228A (en) * | 2023-11-20 | 2023-12-19 | 广东码清激光智能装备有限公司 | Workpiece identification and flexible processing device and method |
| US20240009772A1 (en) * | 2022-07-06 | 2024-01-11 | Shandong Dingsheng Intelligent Technology Co., Ltd | Robot-based laser cladding method and system for membrane wall |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110773875A (en) * | 2019-11-28 | 2020-02-11 | 广州新可激光设备有限公司 | Laser processing equipment adopting CCD (Charge coupled device) off-axis positioning and double-marking laser processing method thereof |
| CN112372143A (en) * | 2020-06-29 | 2021-02-19 | 浙江隐齿丽医学技术有限公司 | Laser marking method and system for shell-shaped tooth appliance |
| CN112077452A (en) * | 2020-08-31 | 2020-12-15 | 广州新可激光设备有限公司 | Longitudinal and transverse coordinate correction method of laser marking system |
| CN112894179A (en) * | 2021-01-14 | 2021-06-04 | 郑州市天正科技发展有限公司 | Ox horn ring hanger and laser processing equipment |
| CN113275757A (en) * | 2021-06-01 | 2021-08-20 | 伟本智能机电（上海）股份有限公司 | Fixed-focus laser marking floating mechanism |
| CN113487679A (en) * | 2021-06-29 | 2021-10-08 | 哈尔滨工程大学 | Visual ranging signal processing method for automatic focusing system of laser marking machine |
| CN113714624A (en) * | 2021-08-29 | 2021-11-30 | 南京晨光集团有限责任公司 | Focusing device for laser marking of electric connector |
| CN113771504A (en) * | 2021-10-09 | 2021-12-10 | 湖南省南北特食品有限公司 | Laser of portable spouts a yard equipment |
| CN114101921A (en) * | 2021-11-24 | 2022-03-01 | 上海航天设备制造总厂有限公司 | Electric connector marking machine based on automatic positioning function and marking method |
| US20240009772A1 (en) * | 2022-07-06 | 2024-01-11 | Shandong Dingsheng Intelligent Technology Co., Ltd | Robot-based laser cladding method and system for membrane wall |
| US11969826B2 (en) * | 2022-07-06 | 2024-04-30 | Chengrui ZHANG | Robot-based laser cladding method and system for membrane wall |
| CN115781060A (en) * | 2023-02-10 | 2023-03-14 | 广州三义激光科技有限公司 | Intelligent laser cutting equipment and method based on automatic image identification |
| CN117245228A (en) * | 2023-11-20 | 2023-12-19 | 广东码清激光智能装备有限公司 | Workpiece identification and flexible processing device and method |
| CN117245228B (en) * | 2023-11-20 | 2024-01-26 | 广东码清激光智能装备有限公司 | Workpiece identification and flexible processing device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110052704B (en) | 2021-04-20 |
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