CN114078162B - Truss sorting method and system for workpiece after steel plate cutting - Google Patents
Truss sorting method and system for workpiece after steel plate cutting Download PDFInfo
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- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
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- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/048—Multiple gripper units
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- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
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- B23Q7/12—Sorting arrangements
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- G06T2207/30108—Industrial image inspection
- G06T2207/30136—Metal
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- G06T2207/30—Subject of image; Context of image processing
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- G06T2207/30164—Workpiece; Machine component
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Abstract
The invention discloses a truss sorting method and a truss sorting system for workpieces after steel plate cutting, which are characterized in that a nesting diagram of a target steel plate is obtained, and a workpiece angle point diagram of an actual steel plate on a station is collected; cutting a target workpiece angle point diagram of the nesting diagram, comparing the target workpiece angle point diagram with the workpiece angle point diagram of the actual steel plate, judging whether the actual steel plate is the target steel plate or not according to a comparison result, and if the actual steel plate is the target steel plate, positioning the actual position of the target workpiece on the target steel plate; and determining a target truss of the target workpiece, controlling the target truss to move to the actual position of the target workpiece, and sorting the target workpiece. The automatic steel plate sorting device can realize automatic sorting of the cut steel plates, and can effectively solve the problems that the prior image recognition has limited resolution, limited acquisition visual field, incapability of shooting a full large steel plate and further incapability of recognizing the steel plate due to the adoption of the workpiece angular point image recognition steel plate.
Description
Technical Field
The invention relates to the field of cutting, blanking and sorting, in particular to a truss sorting method and a truss sorting system for a workpiece after a steel plate is cut.
Background
In the manufacturing field, cutting and blanking are the first steps of all production and manufacturing processes, the cutting process can cut a steel plate into a plurality of workpieces according to a nesting diagram, the workpieces, the steel plate and waste materials are required to be separated in the sorting process, the workpieces, the steel plate and the waste materials are sorted on a conveying line and conveyed to subsequent stations for next process treatment, the workpieces are arranged in small batches at the present stage, the production modes of various types are adopted, production orders are frequently changed, the utilization rate of the steel plate is improved, the randomness of the nesting diagram layout is high, the sizes of the partial workpieces are large, the size is heavy, the workpieces are sorted by a traditional mode through manual control of devices such as KBK and the like, the working efficiency is low, the cost is high, the workpieces are greatly influenced by human factors, blanking sorting is also a key step of the manufacturing process, and the efficiency of blanking sorting directly influences the productivity of the whole production line or even enterprises.
The problems that automatic sorting cannot be realized and the working efficiency is low are concentrated on the following three points:
1) the layout of the nesting diagram is random, and the automatic equipment cannot automatically grab the nesting diagram;
2) the workpiece, the waste and the steel plate can not be quickly separated by manual operation, and the working efficiency is low;
3) large-size workpieces need to be cooperatively worked by multiple persons, the efficiency is low, and safety accidents are easily caused.
Therefore, the existing manual control workpiece sorting method has low efficiency and poor stability, and becomes a technical problem to be solved urgently by the technical personnel in the field.
Disclosure of Invention
The invention provides a truss sorting method and a truss sorting system for workpieces after steel plates are cut, which are used for solving the technical problems of low efficiency and poor stability of the existing manual control workpiece sorting method.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a truss sorting method for a workpiece after steel plate cutting comprises the following steps:
acquiring a nesting diagram of a target steel plate, and acquiring a workpiece angle point diagram of an actual steel plate on a station;
cutting a target workpiece angle point diagram of the nesting diagram, comparing the target workpiece angle point diagram with the workpiece angle point diagram of the actual steel plate, judging whether the actual steel plate is the target steel plate or not according to a comparison result, and if the actual steel plate is the target steel plate, positioning the actual position of the target workpiece on the target steel plate;
and determining a target truss of the target workpiece, controlling the target truss to move to the actual position of the target workpiece, and sorting the target workpiece.
Preferably, the method for judging whether the actual steel plate is the target steel plate according to the comparison result comprises the following steps:
and if the workpiece corner point diagram of the actual steel plate is consistent with the corner points and the edge points of the target workpiece corner point diagram, judging that the actual steel plate is the target steel plate.
Preferably, the positioning the actual position of the target workpiece on the target steel plate comprises the following steps:
positioning the actual position of a target steel plate, and extracting the positions of corner points and side points on the steel plate in a corner point diagram of the target workpiece;
and determining the actual position of the target workpiece based on the positions of the corner points and the side points on the steel plate in the target workpiece corner point diagram and by combining the actual position of the target steel plate.
Preferably, the grabbing tool of the truss is a dot-matrix magnetic suction pickup, and a plurality of magnetic suction units distributed in a dot matrix are arranged on the magnetic suction end surface of the magnetic suction pickup;
determining a target truss for the target workpiece, comprising the steps of:
determining a grabbing mode according to the shape, size and weight of the target workpiece; wherein, the snatch mode includes: single arm grabbing and multi-arm grabbing;
and selecting a corresponding number of idle trusses as target trusses according to the grabbing mode.
Preferably, the method for controlling the target truss to sort the target workpiece comprises the following steps:
determining the optimal grabbing position and the optimal open magnetic point data of the target workpiece according to the shape of the target workpiece and the form of the dot-matrix end effector of the target truss, and grabbing the target workpiece according to the optimal grabbing position and the optimal open magnetic point data; wherein, the open magnetic point data is the on-off state of each magnetic unit on the magnetic pickup;
and calculating the placing coordinates of the target workpiece through a tiling algorithm, planning an optimal grabbing track according to the actual position and the placing coordinates of the target workpiece, and moving the grabbed target workpiece to the placing coordinates according to the optimal grabbing track.
Preferably, the truss is linearly moved point to point, and when a plurality of target workpieces exist for simultaneous sorting, the method further comprises the following steps:
for any one target workpiece a1 and its target truss a1, any one target workpiece a2 and its grabbed target truss a2, which is different from target workpiece a 1:
calculating the sum of diagonal distances of the target workpiece a1 and the target workpiece a2, setting a first safety distance between a target truss A1 and a target truss A2, comparing the value of the sum of the diagonal distances with the value of the first safety distance, and selecting the larger one of the two as the optimal safety distance;
calculating the minimum distance between the currently planned optimal movement track S1 of the target workpiece a1 and the currently planned optimal movement track S2 of the target workpiece a2, comparing the minimum distance with the optimal safe distance, and if the minimum distance is smaller than the optimal safe distance, judging that the target workpiece a1 and the target workpiece a2 have collision risks in the grabbing process.
Preferably, when the target workpiece includes a plurality of target workpieces and the plurality of target workpieces have different gripping manners, the target workpieces in the multi-arm gripping manner are preferentially sorted.
Preferably, the workpiece corner point image on the actual steel plate on the station is acquired through a camera, the target workpiece corner point image is compared with the workpiece corner point image on the actual steel plate on the station, and whether the actual steel plate on the station is the target steel plate or not is judged according to the comparison result and is realized through a visual recognition algorithm.
A computer system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method when executing the computer program.
The invention has the following beneficial effects:
1. according to the truss sorting method and system for the workpieces after the steel plates are cut, the nesting diagram of the target steel plates is obtained, and the workpiece angle point diagram of the actual steel plates on the station is collected; cutting a target workpiece angle point diagram of the nesting diagram, comparing the target workpiece angle point diagram with the workpiece angle point diagram of the actual steel plate, judging whether the actual steel plate is the target steel plate or not according to a comparison result, and if the actual steel plate is the target steel plate, positioning the actual position of the target workpiece on the target steel plate; and determining a target truss of the target workpiece, controlling the target truss to move to the actual position of the target workpiece, and sorting the target workpiece. The automatic steel plate sorting device can realize automatic sorting of the cut steel plates, and can effectively solve the problems that the prior image recognition has limited resolution, limited acquisition visual field, incapability of shooting a full large steel plate and further incapability of recognizing the steel plate due to the adoption of the workpiece angular point image recognition steel plate.
2. In a preferred scheme, the optimal grabbing position and the optimal open magnetic point data of the target workpiece can be determined according to the shape of the target workpiece and the form of the dot matrix type end effector of the target truss, so that the workpiece can be grabbed more stably, and the error rate of workpiece grabbing is reduced.
3. In a preferred scheme, the invention can compare the collision risk of the paths planned by each workpiece in advance, and if the collision risk exists, the invention automatically executes obstacle avoidance measures or changes the planned paths, thereby improving the sorting safety.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a partial view of a truss sorting system for a workpiece after cutting of steel plates in a preferred embodiment of the invention;
FIG. 2 is a schematic diagram of a truss sorting system for a workpiece after cutting of steel plates in a preferred embodiment of the invention;
FIG. 3 is a diagram of a nesting of the preferred embodiment of the present invention;
fig. 4 is a schematic view of an end effector in a preferred embodiment of the present invention, wherein (a) is a schematic view of a magnetically attracted end surface of the end effector, and (b) is a perspective view of the end effector; (c) is a magnetic opening schematic diagram of the end pick-up;
FIG. 5 is a graph of angular variation in a preferred embodiment of the present invention;
FIG. 6 is a diagram of a trimmed nesting in a preferred embodiment of the invention;
FIG. 7 is a schematic view of the working range of the truss in the preferred embodiment of the invention;
FIG. 8 is a schematic illustration of the minimum distance in a preferred embodiment of the present invention;
fig. 9 is a flowchart of a truss sorting method of a workpiece after cutting a steel plate according to a preferred embodiment of the present invention.
The figure is marked with: 1. a camera; 2. a light source; 3. an end effector; 4. a truss arm; 5. an angular point; 6. edge points; 7. and (3) a steel plate.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
The first embodiment is as follows:
as shown in fig. 9, in this embodiment, a method for sorting a truss of a workpiece after cutting a steel plate is disclosed, which includes the following steps:
acquiring a nesting diagram of a target steel plate 7, and acquiring a workpiece angle point diagram of the actual steel plate 7 on a station;
cutting a target workpiece angle point diagram of the nesting diagram, comparing the target workpiece angle point diagram with the workpiece angle point diagram of the actual steel plate 7, judging whether the actual steel plate 7 is the target steel plate 7 or not according to a comparison result, and if the actual steel plate 7 is the target steel plate 7, positioning the actual position of the target workpiece on the target steel plate 7;
and determining a target truss of the target workpiece, controlling the target truss to move to the actual position of the target workpiece, and sorting the target workpiece.
In addition, in the embodiment, a computer system is also disclosed, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the steps of the method are implemented.
According to the truss sorting method and system for the workpieces after steel plate cutting, the nesting diagram of the target steel plate 7 is obtained, and the workpiece angle point diagram of the actual steel plate 7 on a station is collected; cutting a target workpiece angle point diagram of the nesting diagram, comparing the target workpiece angle point diagram with the workpiece angle point diagram of the actual steel plate 7, judging whether the actual steel plate 7 is the target steel plate 7 or not according to a comparison result, and if the actual steel plate 7 is the target steel plate 7, positioning the actual position of the target workpiece on the target steel plate 7; and determining a target truss of the target workpiece, controlling the target truss to move to the actual position of the target workpiece, and sorting the target workpiece. The automatic sorting method can realize automatic sorting of the workpieces after the steel plates are cut, and in addition, the problem that the steel plates 7 cannot be recognized due to the fact that the resolution is limited, the acquisition visual field is limited, the whole large steel plates 7 cannot be shot and the steel plates 7 cannot be recognized due to the fact that the current image recognition is adopted can be effectively solved.
Example two:
the second embodiment is the preferred embodiment of the first embodiment, and is different from the first embodiment in that specific steps of the truss sorting method for the workpiece after the steel plate is cut are introduced, and specific results of the truss sorting system for the workpiece after the steel plate is cut are refined:
the invention provides a system and a device for visually guiding a truss to sort workpieces, aiming at the technical problems that the cut wastes, a steel plate 7 and the workpieces cannot be quickly separated, the workpieces cannot be automatically grabbed, the working efficiency is low and the like in the existing cutting and blanking scene, wherein the system comprises a truss manipulator, a camera 1, a light source 2, a dot-matrix end effector 3, an industrial personal computer and a PLC (programmable logic controller), as shown in attached figures 1 and 2, the end effector is arranged at the tail end of the truss manipulator, the camera 1 and the light source 2 are arranged on the truss, and the camera 1 and the PLC are connected with the industrial personal computer and carry out information interaction through communication.
The technical scheme of the invention comprises the following steps:
the first step is as follows: receiving and analyzing the nesting diagram data, wherein the analyzed data comprises a typesetting picture of the nesting diagram, length and width information of a workpiece, open magnetic data of a dot matrix magnet and the like;
1.1, analyzing the nesting diagram data shown in the figure 3 into a typesetting picture;
1.2, calculating the grabbing positions and the open magnetic point data of different workpieces according to the shapes of the workpieces and the shapes of the dot matrix type end pickups, wherein the structures and the working shapes of the dot matrix type end pickups are shown in FIG. 4;
the second step is that: after the steel plate 7 is stopped in place, controlling the truss to reach a preset point position, and taking a picture to acquire an image;
2.1 acquiring two positions of an image, wherein one position is an angular point 5 of a steel plate 7, and the other position is a long side corresponding to the angular point 5;
2.2 the collection mode can control one truss arm 4 to shoot and collect the corner point 5 and the edge point, and can also control two truss arms 4 to shoot one corner point 5 and one edge point. Wherein, the corner-edge map of image acquisition is shown in fig. 5;
the third step: the method comprises the following steps of identifying and positioning by using the acquired image:
3.1 aiming at the situation that the sizes of the steel plates 7 are large and the cameras 1 cannot shoot all the steel plates, the method adopts a local matching method to identify and position the steel plates 7;
3.2 cutting the area of the corresponding corner point 5 position on the nesting diagram, comparing the cut nesting diagram shown in figure 6 with the shot corner point diagram, and identifying whether the steel plate 7 is consistent with the nesting diagram;
3.3 cutting the corresponding edge position area on the nesting diagram, comparing the cut nesting diagram with the shot angular point diagram, and identifying whether the steel plate 7 is consistent with the nesting diagram;
3.4 if the nesting diagram of the corner points 5 and the edge points is consistent with the actual steel plate 7, extracting the corner points 5 of the steel plate 7 in the corner diagram, extracting the edge points 6 of the steel plate 7 in the edge diagram, wherein the corner points 5 and the edge points 6 can determine the long edge positions of the steel plate 7, and converting the workpiece position information in the nesting diagram into a truss coordinate system through the relationship between the corners and the edges;
the fourth step: controlling the truss to sort and place the workpieces, and specifically comprising the following steps:
4.1, classifying the workpieces according to the shape and the size of the workpieces, wherein the classification is based on whether the workpieces need to be cooperatively grabbed by two arms or not, namely whether the weight and the size exceed the grabbing range of a single arm or not;
4.2 preferentially grabbing the workpiece needing to be grabbed by two arms, calculating the placement coordinate of the workpiece through a tiling algorithm, and controlling the truss to complete grabbing and placing of the workpiece;
4.3 for parts grabbed by the single arm, the multi-arm truss can freely grab workpieces, and meanwhile, the work improves the sorting efficiency, but during the multi-arm work, the truss is ensured not to collide, and the workpieces grabbed by the truss are also not collided, so that the workpiece grabbing needs to be distributed and the collision detection is carried out, and if the collision happens, the workpiece is temporarily skipped to execute the next workpiece;
the fifth step: and finishing the sorting of the steel plates 7 after all the workpieces are sorted.
The workpiece grabbing and distributing rules are as follows:
1. as shown in fig. 7, setting the two arms a1, a2, a1, and a2 to be incapable of collision, thus dividing the region into a common region and an exclusive region;
2. setting the safe distance of the two arms to be L, wherein the working range of the truss is X1 to X2, and X1 is smaller than X2;
3. the exclusive grabbing area of A1 is X1+ L, the exclusive area of A2 is X2-L, and the public area is X2-X1-2 xL;
the collision detection method is as follows:
s1: the truss moving mode is point-to-point movement, namely the moving track from the grabbing point to the placing point is the linear distance between the two points;
s2: the two arms are not collided, namely the two arms are always kept to be greater than a safe distance in the moving process;
s3: the safety distance is a dynamic safety distance, when the sum of the distances between the two workpieces is greater than the safety distance of the truss arm 4, the safety distance is the distance between the two workpieces, otherwise, the safety distance is the safety distance of the truss arm 4;
the calculation rule is as follows:
(1) the workpieces carried by the truss can rotate, so that the sum of the longest distance between the two workpieces is the diagonal distance, and the sum of the diagonal distances is calculated;
(2) when the diagonal distance is greater than the safe distance of the truss, namely the safe distance is the sum of diagonals of the two workpieces, otherwise, the safe distance is the safe distance of the truss arm 4;
(3) setting the finally calculated safe distance as S;
s4, as shown in FIG. 8, assuming that the grabbing track of the A1 arm is (M1, M2), the grabbing track of the A2 arm is (N1, N2), and the minimum distance between the two running tracks is N2-M2, when N2-M2> S, two workpieces can be grabbed simultaneously, otherwise, the workpiece is skipped temporarily, and the collision detection of the next workpiece is carried out.
In summary, in the truss sorting method and system for the workpieces after the steel plates are cut, the nesting diagram of the target steel plate 7 is obtained, and the workpiece angle point diagram of the actual steel plate 7 on the station is acquired; cutting a target workpiece angle point diagram of the nesting diagram, comparing the target workpiece angle point diagram with the workpiece angle point diagram of the actual steel plate 7, judging whether the actual steel plate 7 is the target steel plate 7 or not according to a comparison result, and if the actual steel plate 7 is the target steel plate 7, positioning the actual position of the target workpiece on the target steel plate 7; and determining a target truss of the target workpiece, controlling the target truss to move to the actual position of the target workpiece, and sorting the target workpiece. The automatic sorting method can realize automatic sorting of the workpieces after the steel plates are cut, and in addition, the problem that the steel plates 7 cannot be recognized due to the fact that the resolution is limited, the acquisition visual field is limited, the whole large steel plates 7 cannot be shot and the steel plates 7 cannot be recognized due to the fact that the current image recognition is adopted can be effectively solved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The truss sorting method of the workpiece after the steel plate is cut is characterized by comprising the following steps of:
acquiring a nesting diagram of a target steel plate, and acquiring a workpiece angle point diagram of an actual steel plate on a station;
cutting a target workpiece angle point diagram of the nesting diagram, comparing the target workpiece angle point diagram with the workpiece angle point diagram of the actual steel plate, judging whether the actual steel plate is the target steel plate or not according to a comparison result, and if the actual steel plate is the target steel plate, positioning the actual position of the target workpiece on the target steel plate;
determining a target truss of the target workpiece, controlling the target truss to move to the actual position of the target workpiece, and sorting the target workpiece;
the grabbing tool of the truss is a dot matrix type magnetic suction picking device, and a plurality of magnetic suction units distributed in a dot matrix manner are arranged on the magnetic suction end surface of the magnetic suction picking device;
controlling a target truss to sort the target workpiece, comprising the following steps:
determining the optimal grabbing position and the optimal open magnetic point data of the target workpiece according to the shape of the target workpiece and the form of the dot-matrix end effector of the target truss, and grabbing the target workpiece according to the optimal grabbing position and the optimal open magnetic point data; wherein, the open magnetic point data is the on-off state of each magnetic unit on the magnetic pickup;
and calculating the placing coordinates of the target workpiece through a tiling algorithm, planning an optimal grabbing track according to the actual position and the placing coordinates of the target workpiece, and moving the grabbed target workpiece to the placing coordinates according to the optimal grabbing track.
2. The truss sorting method for the steel plate cut workpieces as claimed in claim 1, wherein judging whether the actual steel plate is a target steel plate according to the comparison result comprises the following steps:
and if the workpiece corner point diagram of the actual steel plate is consistent with the corner points and the edge points of the target workpiece corner point diagram, judging that the actual steel plate is the target steel plate.
3. The method for truss sorting of steel plate cut workpieces as recited in claim 1, wherein locating the actual position of the target workpiece on the target steel plate comprises the steps of:
positioning the actual position of a target steel plate, and extracting the positions of corner points and side points on the steel plate in a corner point diagram of the target workpiece;
and determining the actual position of the target workpiece based on the positions of the corner points and the side points on the steel plate in the target workpiece corner point diagram and by combining the actual position of the target steel plate.
4. The method for sorting the truss of the workpiece after the steel plate is cut according to claim 1, wherein the step of determining the target truss of the target workpiece comprises the following steps:
determining a grabbing mode according to the shape, size and weight of the target workpiece; wherein, the snatch mode includes: single arm grabbing and multi-arm grabbing;
and selecting a corresponding number of idle trusses as target trusses according to the grabbing mode.
5. The method for sorting the truss of the steel plate cut workpiece according to claim 4, wherein the truss moves linearly point to point, and when a plurality of target workpieces exist for sorting at the same time, the method further comprises the following steps:
for any one target workpiece a1 and its target truss a1, any one target workpiece a2 and its grabbed target truss a2, which is different from target workpiece a 1:
adding the diagonal length of the target workpiece a1 and the diagonal length of the target workpiece a2 as the sum of the diagonal distances of the target workpiece a1 and the target workpiece a 2;
setting a first safety distance between a target truss A1 and a target truss A2, comparing the sum of the diagonal distances with the value of the first safety distance, and selecting the larger one of the diagonal distances and the first safety distance as the optimal safety distance;
calculating the minimum distance between the currently planned optimal movement track S1 of the target workpiece a1 and the currently planned optimal movement track S2 of the target workpiece a2, comparing the minimum distance with the optimal safe distance, and if the minimum distance is smaller than the optimal safe distance, judging that the target workpiece a1 and the target workpiece a2 have collision risks in the grabbing process.
6. The method of claim 4, wherein the target work pieces are sorted with priority in a multi-arm gripping manner when the target work pieces include a plurality of target work pieces and the gripping manner of the plurality of target work pieces is different.
7. The method for sorting the trusses of the steel plate cut workpieces according to claim 6, wherein the acquisition of the workpiece corner point diagram on the actual steel plate on the station is realized by a camera, the target workpiece corner point diagram is compared with the workpiece corner point diagram of the actual steel plate on the station, and whether the actual steel plate on the station is the target steel plate is judged according to the comparison result and is realized by a visual recognition algorithm.
8. A computer system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method of any of the preceding claims 1 to 7 are performed when the computer program is executed by the processor.
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| CN108549324B (en) * | 2018-05-16 | 2019-07-05 | 山东大学 | Workpiece for high speed sorting system follows crawl method for planning track and system |
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| CN111768369B (en) * | 2020-06-01 | 2023-08-25 | 湖南视比特机器人有限公司 | Steel plate corner point and edge point positioning method, workpiece grabbing method and production line |
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