CN110421549A - A kind of industrial robot vision's system and its teaching method - Google Patents
A kind of industrial robot vision's system and its teaching method Download PDFInfo
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- CN110421549A CN110421549A CN201910685805.7A CN201910685805A CN110421549A CN 110421549 A CN110421549 A CN 110421549A CN 201910685805 A CN201910685805 A CN 201910685805A CN 110421549 A CN110421549 A CN 110421549A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of industrial robot vision's system and its teaching methods, object arm camera is taken including 360 ° of full-view cameras, robot's arm camera and robot, 360 ° of full-view cameras, robot's arm camera and robot take object arm camera is two-way to be electrically connected with live vision controller, and the output end of the scene vision controller is electrically connected with live display terminal.The present invention is used cooperatively by setting signal receiver, immunity module, signal modem, precoder, resource unit mapping device, signal generator and data source, anti-interference process can be carried out to the signal of transmitting, the anti-interference of signal in this way is more preferable, signal is solved in transmission, because that can not oppose that signal carries out anti-interference process, so that signal is easy to be disturbed during transmission, the information for causing robot to receive and original information difference are larger, occur the problem of teaching inaccuracy so as to cause robotic vision system.
Description
Technical field
The present invention relates to Industrial Robot Technology field, specially a kind of industrial robot vision's system and its teaching side
Method.
Background technique
With the development of modern society and the raising of industrial level, industrial robot has obtained on a large scale in the industrial production
It uses, teaching can be carried out to its vision system in industrial robot use process, existing industrial robot vision's system exists
When teaching, anti-interference process cannot be carried out to the signal of output, so that signal is easy to be disturbed in transmission process, cause machine
The information that people receives and original information difference are larger, occur the problem of teaching inaccuracy so as to cause robotic vision system,
It is unfavorable for the teaching of robotic vision system.
Summary of the invention
The purpose of the present invention is to provide a kind of industrial robot vision's system and its teaching methods, have the letter to transmitting
Number carry out anti-interference process the advantages of, solve the problems, such as robotic vision system occur teaching inaccuracy.
To achieve the above object, the invention provides the following technical scheme: a kind of industrial robot vision's system, including 360 °
Full-view camera, robot's arm camera and robot take object arm camera, 360 ° of full-view cameras, robot's arms
Camera and robot take object arm camera is two-way to be electrically connected with live vision controller, the scene vision controller it is defeated
Outlet is electrically connected with live display terminal, and the output end of the scene display terminal is electrically connected with storage center one, the scene
The input terminal of vision controller is electrically connected with live manual operation panel, and vision controller is two-way at the scene is electrically connected with data
Emitting/receiving one, the data emitting/receiving one is two-way to be electrically connected with data emitting/receiving two, the data hair
Penetrate/receiver two is two-way is electrically connected with robot remote monitering center, the output end at the robot remote monitering center is electrically connected
It is connected to storage center two and teaching machine, the output end of the teaching machine is electrically connected with mobile client and signal processing module, institute
The output end for stating signal processing module is electrically connected with robot；
The signal processing module includes signal receiver, and the output end of the signal receiver is electrically connected with immunity module,
The output end of the immunity module is electrically connected with signal modem, the output end electrical connection of the signal modem
Have a precoder, the output end of the precoder is electrically connected with resource unit mapping device, the resource unit mapping device it is defeated
Outlet is electrically connected with signal generator, and the output of the signal generator is electrically connected with data source.
Preferably, the input terminal of the signal receiver and teaching machine are electrically connected, the output end of the data source
It is electrically connected with robot.
Preferably, the storage center one and storage center two all can be CD and solid state hard disk etc., the people from scene
Work operation panel is liquid crystal touch screen, and the scene display terminal is liquid crystal display.
Preferably, the robot remote monitering center is LED liquid crystal large screen, and the mobile client can be intelligence
Mobile phone and tablet computer etc..
Preferably, the immunity module includes filter circuit, 360 ° of full-view cameras, robot's arm camera
Object arm camera is taken to be installed in robot with robot.
Preferably, a kind of industrial robot vision's system and its teaching method, include the following steps:
A) whether confirmation visual identity object is teaching object, carries out subsequent operation if teaching object, if not teaching object,
Teaching object is chosen again into teaching machine storage center, and the teaching object of selection is placed in operative scenario；
B it) is sent and is instructed according to the requirement of the teaching step of teaching textbook or work-place study personnel, sending instruction includes changing to know
Position and posture etc. of the other object in operative scenario；
C) instruction sent is received by signal receiver, is filtered by immunity module, is then passed through signal
Signal is further processed in modem；
D information that) treated enters precoder and carries out coded treatment, is carried out by resource unit mapping device to coding after coding
Detection processing is mapped, signal generator is subsequently entered and generates signal, data are transmitted by data source, finally by machine
Device people receives；
E it after) robot receives signal, is changed to its operating position and to the operating angle etc. of robot's arm；
F the information after) robot changes takes object arm camera by 360 ° of full-view cameras, robot's arm camera and robot
Acquisition, the information after acquisition enter live vision controller, pass through data emitting/receiving one and data emitting/receiving two
Cooperation by robot remote monitering central collection, on final reaction to teaching machine, teaching machine is identified in real time in passback image
Position and posture etc., and be superimposed on image and show；
G the object oriented for wanting to identify) is selected on teaching machine, robot controller can be real-time from vision controller at this time,
The information such as position and posture of the object in operative scenario are known on ground, these information are as robot motion path；
H) learn personnel, download APP software using mobile client, be combined by APP software with teaching machine, facilitate
It practises.
Compared with prior art, beneficial effects of the present invention are as follows:
1, the present invention is reflected by setting signal receiver, immunity module, signal modem, precoder, resource unit
Emitter, signal generator and data source are used cooperatively, and can carry out anti-interference process to the signal of transmitting, such signal
Anti-interference is more preferable, solves signal in transmission, because that can not oppose that signal carries out anti-interference process, so that signal is in transmission
It is easy to be disturbed in the process, the information for causing robot to receive and original information difference are larger, so as to cause robot vision
There is the problem of teaching inaccuracy in system, is worthy to be popularized.
2, the present invention can carry out field control to robot by live manual operation panel, by live display terminal,
Facilitate checking for field personnel, by storage center one and storage center two, visual information can be stored, pass through shifting
Dynamic client, facilitates the study of personnel.
Detailed description of the invention
Fig. 1 is present system schematic diagram；
Fig. 2 is signal processing module systematic schematic diagram of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
A kind of industrial robot vision's system referring to FIG. 1-2, including the camera shooting of 360 ° of full-view cameras, robot's arm
Head and robot take object arm camera, and 360 ° of full-view cameras, robot's arm camera and robot take object arm camera equal
Two-way to be electrically connected with live vision controller, the output end of live vision controller is electrically connected with live display terminal, by existing
Field display terminal, facilitates checking for field personnel, and the output end of live display terminal is electrically connected with storage center one, scene
The input terminal of vision controller is electrically connected with live manual operation panel, by live manual operation panel, can to robot into
Row field control, live vision controller is two-way to be electrically connected with data emitting/receiving one, and data emitting/receiving one is two-way
It is electrically connected with data emitting/receiving two, data emitting/receiving two is two-way to be electrically connected with robot remote monitering center, machine
The output end of device people's remote monitoring center is electrically connected with storage center two and teaching machine, storage center one and storage center two
Think CD and solid state hard disk etc., live manual operation panel is liquid crystal touch screen, and live display terminal is liquid crystal display, is led to
Storage center one and storage center two are crossed, visual information can be stored, the output end of teaching machine is electrically connected with mobile client
End and signal processing module, the output end of signal processing module are electrically connected with robot, and robot remote monitering center is LED liquid
Brilliant large screen, mobile client can be smart phone and tablet computer etc., by mobile client, facilitate the study of personnel,
Immunity module includes filter circuit, and 360 ° of full-view cameras, robot's arm camera and robot take object arm camera equal
It is mounted in robot；
Signal processing module includes signal receiver, and the output end of signal receiver is electrically connected with immunity module, anti-interference mould
The output end of block is electrically connected with signal modem, and the output end of signal modem is electrically connected with precoder, prelists
The output end of code device is electrically connected with resource unit mapping device, and the output end of resource unit mapping device is electrically connected with signal generator,
The output of signal generator is electrically connected with data source, passes through setting signal receiver, immunity module, modulating and demodulating signal
Device, precoder, resource unit mapping device, signal generator and data source are used cooperatively, can to the signal of transmitting into
The anti-interference of row anti-interference process, such signal is more preferable, solves signal in transmission, because that can not oppose that it is anti-dry that signal carries out
Processing is disturbed, so that signal is easy disturbed, robot is caused to receive information and original information difference during transmission
It is larger, occur the problem of teaching inaccuracy so as to cause robotic vision system, be worthy to be popularized, the input terminal of signal receiver with
Teaching machine is electrically connected, and the output end and robot of data source are electrically connected；
A kind of industrial robot vision's system and its teaching method, include the following steps:
A) whether confirmation visual identity object is teaching object, carries out subsequent operation if teaching object, if not teaching object,
Teaching object is chosen again into teaching machine storage center, and the teaching object of selection is placed in operative scenario；
B it) is sent and is instructed according to the requirement of the teaching step of teaching textbook or work-place study personnel, sending instruction includes changing to know
Position and posture etc. of the other object in operative scenario；
C) instruction sent is received by signal receiver, is filtered by immunity module, is then passed through signal
Signal is further processed in modem；
D information that) treated enters precoder and carries out coded treatment, is carried out by resource unit mapping device to coding after coding
Detection processing is mapped, signal generator is subsequently entered and generates signal, data are transmitted by data source, finally by machine
Device people receives；
E it after) robot receives signal, is changed to its operating position and to the operating angle etc. of robot's arm；
F the information after) robot changes takes object arm camera by 360 ° of full-view cameras, robot's arm camera and robot
Acquisition, the information after acquisition enter live vision controller, pass through data emitting/receiving one and data emitting/receiving two
Cooperation by robot remote monitering central collection, on final reaction to teaching machine, teaching machine is identified in real time in passback image
Position and posture etc., and be superimposed on image and show；
G the object oriented for wanting to identify) is selected on teaching machine, robot controller can be real-time from vision controller at this time,
The information such as position and posture of the object in operative scenario are known on ground, these information are as robot motion path；
H) learn personnel, download APP software using mobile client, be combined by APP software with teaching machine, facilitate
It practises.
Embodiment one:
A kind of industrial robot vision's system, including 360 ° of full-view cameras, robot's arm camera and robot take object arm
Camera, 360 ° of full-view cameras, robot's arm camera and robot take object arm camera is two-way to be electrically connected with scene
Vision controller, the output end of live vision controller are electrically connected with live display terminal, convenient existing by live display terminal
Field staff's checks that the output end of live display terminal is electrically connected with storage center one, the input of live vision controller
End is electrically connected with live manual operation panel, and by live manual operation panel, field control, scene view can be carried out to robot
Feel that controller is two-way and be electrically connected with data emitting/receiving one, data emitting/receiving one is two-way be electrically connected with data transmitting/
Receiver two, data emitting/receiving two is two-way to be electrically connected with robot remote monitering center, robot remote monitering center
Output end is electrically connected with storage center two and teaching machine, and the output end of teaching machine is electrically connected with mobile client and signal processing mould
Block, the output end of signal processing module are electrically connected with robot, and robot remote monitering center is LED liquid crystal large screen, mobile
Client can be smart phone and tablet computer etc., by mobile client, facilitate the study of personnel, immunity module includes
Filter circuit, 360 ° of full-view cameras, robot's arm camera and robot take object arm camera to be installed in robot；
Signal processing module includes signal receiver, and the output end of signal receiver is electrically connected with immunity module, anti-interference mould
The output end of block is electrically connected with signal modem, and the output end of signal modem is electrically connected with precoder, prelists
The output end of code device is electrically connected with resource unit mapping device, and the output end of resource unit mapping device is electrically connected with signal generator,
The output of signal generator is electrically connected with data source, passes through setting signal receiver, immunity module, modulating and demodulating signal
Device, precoder, resource unit mapping device, signal generator and data source are used cooperatively, can to the signal of transmitting into
The anti-interference of row anti-interference process, such signal is more preferable, solves signal in transmission, because that can not oppose that it is anti-dry that signal carries out
Processing is disturbed, so that signal is easy disturbed, robot is caused to receive information and original information difference during transmission
It is larger, occur the problem of teaching inaccuracy so as to cause robotic vision system, be worthy to be popularized, the input terminal of signal receiver with
Teaching machine is electrically connected, and the output end and robot of data source are electrically connected；
A kind of industrial robot vision's system and its teaching method, include the following steps:
A) whether confirmation visual identity object is teaching object, carries out subsequent operation if teaching object, if not teaching object,
Teaching object is chosen again into teaching machine storage center, and the teaching object of selection is placed in operative scenario；
B it) is sent and is instructed according to the requirement of the teaching step of teaching textbook or work-place study personnel, sending instruction includes changing to know
Position and posture etc. of the other object in operative scenario；
C) instruction sent is received by signal receiver, is filtered by immunity module, is then passed through signal
Signal is further processed in modem；
D information that) treated enters precoder and carries out coded treatment, is carried out by resource unit mapping device to coding after coding
Detection processing is mapped, signal generator is subsequently entered and generates signal, data are transmitted by data source, finally by machine
Device people receives；
E it after) robot receives signal, is changed to its operating position and to the operating angle etc. of robot's arm；
F the information after) robot changes takes object arm camera by 360 ° of full-view cameras, robot's arm camera and robot
Acquisition, the information after acquisition enter live vision controller, pass through data emitting/receiving one and data emitting/receiving two
Cooperation by robot remote monitering central collection, on final reaction to teaching machine, teaching machine is identified in real time in passback image
Position and posture etc., and be superimposed on image and show；
G the object oriented for wanting to identify) is selected on teaching machine, robot controller can be real-time from vision controller at this time,
The information such as position and posture of the object in operative scenario are known on ground, these information are as robot motion path；
H) learn personnel, download APP software using mobile client, be combined by APP software with teaching machine, facilitate
It practises.
Embodiment two:
A kind of industrial robot vision's system, including 360 ° of full-view cameras, robot's arm camera and robot take object arm
Camera, 360 ° of full-view cameras, robot's arm camera and robot take object arm camera is two-way to be electrically connected with scene
Vision controller, the output end of live vision controller are electrically connected with live display terminal, convenient existing by live display terminal
Field staff's checks that the output end of live display terminal is electrically connected with storage center one, the input of live vision controller
End is electrically connected with live manual operation panel, and by live manual operation panel, field control, scene view can be carried out to robot
Feel that controller is two-way and be electrically connected with data emitting/receiving one, data emitting/receiving one is two-way be electrically connected with data transmitting/
Receiver two, data emitting/receiving two is two-way to be electrically connected with robot remote monitering center, robot remote monitering center
Output end is electrically connected with storage center two and teaching machine, and storage center one and storage center two all can be CD and solid state hard disks
It is liquid crystal touch screen Deng, live manual operation panel, live display terminal is liquid crystal display, passes through storage center one and storage
Center two can store visual information, and the output end of teaching machine is electrically connected with mobile client and signal processing module, letter
The output end of number processing module is electrically connected with robot, and mobile client can be smart phone and tablet computer etc., passes through shifting
Dynamic client, facilitates the study of personnel, and immunity module includes filter circuit, 360 ° of full-view cameras, robot's arm camera shooting
Head and robot take object arm camera to be installed in robot；
Signal processing module includes signal receiver, and the output end of signal receiver is electrically connected with immunity module, anti-interference mould
The output end of block is electrically connected with signal modem, and the output end of signal modem is electrically connected with precoder, prelists
The output end of code device is electrically connected with resource unit mapping device, and the output end of resource unit mapping device is electrically connected with signal generator,
The output of signal generator is electrically connected with data source, passes through setting signal receiver, immunity module, modulating and demodulating signal
Device, precoder, resource unit mapping device, signal generator and data source are used cooperatively, can to the signal of transmitting into
The anti-interference of row anti-interference process, such signal is more preferable, solves signal in transmission, because that can not oppose that it is anti-dry that signal carries out
Processing is disturbed, so that signal is easy disturbed, robot is caused to receive information and original information difference during transmission
It is larger, occur the problem of teaching inaccuracy so as to cause robotic vision system, be worthy to be popularized, the input terminal of signal receiver with
Teaching machine is electrically connected, and the output end and robot of data source are electrically connected；
A kind of industrial robot vision's system and its teaching method, include the following steps:
A) whether confirmation visual identity object is teaching object, carries out subsequent operation if teaching object, if not teaching object,
Teaching object is chosen again into teaching machine storage center, and the teaching object of selection is placed in operative scenario；
B it) is sent and is instructed according to the requirement of the teaching step of teaching textbook or work-place study personnel, sending instruction includes changing to know
Position and posture etc. of the other object in operative scenario；
C) instruction sent is received by signal receiver, is filtered by immunity module, is then passed through signal
Signal is further processed in modem；
D information that) treated enters precoder and carries out coded treatment, is carried out by resource unit mapping device to coding after coding
Detection processing is mapped, signal generator is subsequently entered and generates signal, data are transmitted by data source, finally by machine
Device people receives；
E it after) robot receives signal, is changed to its operating position and to the operating angle etc. of robot's arm；
F the information after) robot changes takes object arm camera by 360 ° of full-view cameras, robot's arm camera and robot
Acquisition, the information after acquisition enter live vision controller, pass through data emitting/receiving one and data emitting/receiving two
Cooperation by robot remote monitering central collection, on final reaction to teaching machine, teaching machine is identified in real time in passback image
Position and posture etc., and be superimposed on image and show；
G the object oriented for wanting to identify) is selected on teaching machine, robot controller can be real-time from vision controller at this time,
The information such as position and posture of the object in operative scenario are known on ground, these information are as robot motion path；
H) learn personnel, download APP software using mobile client, be combined by APP software with teaching machine, facilitate
It practises.
In summary: industrial robot vision's system and its teaching method pass through setting signal receiver, anti-interference mould
Block, signal modem, precoder, resource unit mapping device, signal generator and data source are used cooperatively, and are solved
There is the problem of teaching inaccuracy in robotic vision system of having determined.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of industrial robot vision's system, including 360 ° of full-view cameras, robot's arm camera and robot take object
Arm camera, it is characterised in that: 360 ° of full-view cameras, robot's arm camera and robot take object arm camera equal
Two-way to be electrically connected with live vision controller, the output end of the scene vision controller is electrically connected with live display terminal, institute
The output end for stating live display terminal is electrically connected with storage center one, and the input terminal of the scene vision controller is electrically connected with existing
Manual operation panel, the scene vision controller is two-way to be electrically connected with data emitting/receiving one, and the data transmitting/
Receiver one is two-way to be electrically connected with data emitting/receiving two, and the data emitting/receiving two is two-way to be electrically connected with robot
Remote monitoring center, the output end at the robot remote monitering center is electrically connected with storage center two and teaching machine, described to show
The output end of religion device is electrically connected with mobile client and signal processing module, and the output end of the signal processing module is electrically connected with
Robot；
The signal processing module includes signal receiver, and the output end of the signal receiver is electrically connected with immunity module,
The output end of the immunity module is electrically connected with signal modem, the output end electrical connection of the signal modem
Have a precoder, the output end of the precoder is electrically connected with resource unit mapping device, the resource unit mapping device it is defeated
Outlet is electrically connected with signal generator, and the output of the signal generator is electrically connected with data source.
2. a kind of industrial robot vision's system according to claim 1, it is characterised in that: the signal receiver it is defeated
Enter end and teaching machine is electrically connected, the output end and robot of the data source are electrically connected.
3. a kind of industrial robot vision's system according to claim 1, it is characterised in that: the storage center one and deposit
Storage center two all can be CD and solid state hard disk etc., the scene manual operation panel is liquid crystal touch screen, and the scene is aobvious
Show that terminal is liquid crystal display.
4. a kind of industrial robot vision's system according to claim 1, it is characterised in that: the robot remote monitering
Center is LED liquid crystal large screen, and the mobile client can be smart phone and tablet computer etc..
5. a kind of industrial robot vision's system according to claim 1, it is characterised in that: the immunity module includes
Filter circuit, 360 ° of full-view cameras, robot's arm camera and robot take object arm camera to be installed in machine
On people.
6. a kind of industrial robot vision's system according to claim 1 and its teaching method, it is characterised in that: including such as
Lower step:
A) whether confirmation visual identity object is teaching object, carries out subsequent operation if teaching object, if not teaching object,
Teaching object is chosen again into teaching machine storage center, and the teaching object of selection is placed in operative scenario；
B it) is sent and is instructed according to the requirement of the teaching step of teaching textbook or work-place study personnel, sending instruction includes changing to know
Position and posture etc. of the other object in operative scenario；
C) instruction sent is received by signal receiver, is filtered by immunity module, is then passed through signal
Signal is further processed in modem；
D information that) treated enters precoder and carries out coded treatment, is carried out by resource unit mapping device to coding after coding
Detection processing is mapped, signal generator is subsequently entered and generates signal, data are transmitted by data source, finally by machine
Device people receives；
E it after) robot receives signal, is changed to its operating position and to the operating angle etc. of robot's arm；
F the information after) robot changes takes object arm camera by 360 ° of full-view cameras, robot's arm camera and robot
Acquisition, the information after acquisition enter live vision controller, pass through data emitting/receiving one and data emitting/receiving two
Cooperation by robot remote monitering central collection, on final reaction to teaching machine, teaching machine is identified in real time in passback image
Position and posture etc., and be superimposed on image and show；
G the object oriented for wanting to identify) is selected on teaching machine, robot controller can be real-time from vision controller at this time,
The information such as position and posture of the object in operative scenario are known on ground, these information are as robot motion path；
H) learn personnel, download APP software using mobile client, be combined by APP software with teaching machine, facilitate
It practises.
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| CN110948491A (en) * | 2019-12-21 | 2020-04-03 | 深圳市华成工业控制有限公司 | Industrial robot grabbing method based on visual following |
| CN113492410A (en) * | 2021-09-09 | 2021-10-12 | 成都博恩思医学机器人有限公司 | Method, system, mechanical equipment and storage medium for displaying robot operation process |
| CN113492410B (en) * | 2021-09-09 | 2022-03-18 | 成都博恩思医学机器人有限公司 | Method, system, mechanical equipment and storage medium for displaying robot operation process |
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Application publication date: 20191108 |