CN115035203A - Ladle hot repair method, system, equipment and medium - Google Patents
Ladle hot repair method, system, equipment and medium Download PDFInfo
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- CN115035203A CN115035203A CN202210666846.3A CN202210666846A CN115035203A CN 115035203 A CN115035203 A CN 115035203A CN 202210666846 A CN202210666846 A CN 202210666846A CN 115035203 A CN115035203 A CN 115035203A
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Abstract
The invention provides a ladle hot repair method, a ladle hot repair system, ladle hot repair equipment and a ladle hot repair medium, which relate to the field of metallurgy automation, and comprise the following steps: acquiring a hand-eye relationship of the robot and a three-dimensional point cloud picture of a plurality of photographing points; performing point cloud splicing on the three-dimensional point cloud picture of each photographing point to obtain a full scene three-dimensional point cloud picture with complete attitude information; cutting the full scene three-dimensional point cloud picture to obtain three-dimensional attitude information of a target area; and matching a pre-stored posture model according to the hand-eye relationship and the three-dimensional posture information of the target area to indicate the robot to perform corresponding ladle hot repair treatment. The automatic processing process of ladle hot repair has been realized to this scheme, and the operation is safe, need not manual processing, the effectual cost of labor that has reduced.
Description
Technical Field
The invention relates to the field of metallurgy automation, in particular to a ladle hot repair method, a ladle hot repair system, ladle hot repair equipment and a ladle hot repair medium.
Background
In the ferrous metallurgy process, a ladle needs to be periodically subjected to hot repair after continuous casting is finished, and the work of cleaning a sliding nozzle, replacing a lower nozzle and the like is completed to maintain the working state of the ladle. The danger source is more, the labor risk is big, the labor intensity is big when manual operation.
Disclosure of Invention
In view of the problems in the prior art, the invention provides a ladle hot repair method, a ladle hot repair system, ladle hot repair equipment and a ladle hot repair medium, so as to automatically realize ladle hot repair.
In order to achieve the above objects and other objects, the present invention provides a ladle hot-repair method, including:
acquiring a hand-eye relationship of the robot and a three-dimensional point cloud picture of a plurality of photographing points;
performing point cloud splicing on the three-dimensional point cloud picture of each photographing point to obtain a full scene three-dimensional point cloud picture with complete attitude information;
cutting the full scene three-dimensional point cloud picture to obtain three-dimensional attitude information of a target area;
and matching a pre-stored gesture model according to the hand-eye relationship and the three-dimensional gesture information of the target area to indicate the robot to perform corresponding ladle hot repair treatment.
Optionally, before acquiring the hand-eye relationship of the robot and the three-dimensional point cloud chart of the plurality of photographing points, the method further includes:
enabling the teaching robot to replace various end effectors, recording the replacement posture and track information when the teaching robot replaces the end effectors, generating a corresponding posture model and storing the corresponding posture model;
and enabling the teaching robot to load and unload various replacement parts, and recording loading and unloading postures and track information of the teaching robot to generate and store a corresponding posture model.
Optionally, before acquiring the hand-eye relationship of the robot and the three-dimensional point cloud chart of the plurality of photographing points, the method further includes:
selecting a photographing point of the robot;
calibrating the hand and the eye of the robot to obtain the hand-eye relationship;
shooting is carried out at a shooting point of the robot so as to generate a three-dimensional point cloud picture.
Optionally, the matching a pre-stored posture model according to the hand-eye relationship and the three-dimensional posture information of the target region to instruct the robot to perform corresponding ladle hot repair processing includes:
according to the target area, selecting various replaced parts to be assembled and disassembled by the robot or end effectors to be replaced so as to determine target equipment;
matching the gesture model according to the target equipment, the hand-eye relationship and the three-dimensional gesture information;
and moving the robot to the placement position of the target equipment in the equipment storage library according to the track information in the corresponding attitude model so as to acquire the target equipment.
Optionally, after the moving the robot to the placement position of the target device in the device storage according to the trajectory information in the corresponding posture model to obtain the target device, the method further includes:
if the target equipment is an end effector, replacing the target equipment according to the replacement posture in the corresponding posture model;
if the target equipment is used for replacing parts on the steel ladle, moving to a steel ladle hot repair target area according to the track information in the corresponding attitude model; and loading and unloading the target equipment according to the loading and unloading postures in the corresponding posture models.
Optionally, the performing hand-eye calibration of the robot to obtain the hand-eye relationship includes:
acquiring cloud point coordinates of a laser camera and robot space coordinates of the robot;
and acquiring a coordinate transformation matrix to transform the cloud point coordinates of the laser camera into the space coordinates of the robot.
Optionally, before acquiring the hand-eye relationship of the robot and the three-dimensional point cloud chart of the plurality of photographing points, the method further includes:
fixedly mounting a laser camera on an end effector for detecting and positioning;
causing the robot to replace the end effector with the laser camera mounted thereon;
and converting the end effector, and selecting a position where the visual field and the working distance are matched with the laser camera as a photographing point of the robot.
In order to accomplish the above objects and other objects, the present invention provides a ladle hot repair system, including:
the acquisition module is used for acquiring the hand-eye relationship of the robot and a three-dimensional point cloud picture of a plurality of photographing points;
the splicing module is used for carrying out point cloud splicing processing on the three-dimensional point cloud picture of each photographing point so as to obtain a full scene three-dimensional point cloud picture with complete attitude information;
the cutting module is used for cutting the full-scene three-dimensional point cloud picture to acquire three-dimensional attitude information of a target area;
and the matching module is used for matching a prestored gesture model according to the hand-eye relationship and the three-dimensional gesture information of the target area so as to indicate the robot to perform corresponding ladle hot repair treatment.
In order to achieve the above and other objects, the present invention provides an apparatus comprising:
one or more processors and a memory,
the memory has stored thereon a computer program that, when executed by the one or more processors, causes the apparatus to perform the above-described method.
To achieve the above and other objects, the present invention provides a computer-readable storage medium having stored thereon a computer program, which, when executed by one or more processors, causes an apparatus to perform the above-described method.
As mentioned above, the ladle hot repair method, system, device and medium of the invention have the following beneficial effects:
in the scheme, the conversion relation between the cloud point coordinate of the laser camera and the space coordinate of the robot is determined through hand-eye calibration, so that the robot can move in a track according to a detection result obtained by the laser camera; and then, replacing and installing an end effector of the laser camera by the robot, sequentially operating to each photographing point to acquire a three-dimensional point cloud picture, constructing the acquired three-dimensional cloud picture into a full-scene three-dimensional point cloud picture with complete attitude information through a cloud point splicing algorithm after the acquisition is finished, and further segmenting the full-scene three-dimensional point cloud picture through a point cloud segmentation algorithm to acquire the three-dimensional attitude information of the target area.
And then, matching a prestored attitude model according to the three-dimensional attitude information of the target area to indicate the robot to operate according to the attitude model, and performing ladle hot repair treatment.
In conclusion, the automatic processing process of ladle hot repair is realized, the operation is safe, manual processing is not needed, and the labor cost is effectively reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic flow chart of a ladle hot repair method according to an embodiment of the present invention.
Fig. 2 is a flowchart illustrating an embodiment of step S30 in fig. 1.
Fig. 3 is a flowchart illustrating an embodiment of step S50 in fig. 1.
Fig. 4 is a flowchart illustrating an embodiment of step S504 in fig. 3.
Fig. 5 is a schematic structural diagram of a ladle hot repair system according to an embodiment of the present invention.
FIG. 6 is a schematic diagram of a computer device according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
As shown in fig. 1, the present embodiment provides a ladle hot repair method, including:
s10: and constructing an equipment storage library, wherein various replacing parts and end effectors are stored in the equipment storage library.
Specifically, a storage area for the end effector and storage areas for various replacement parts are provided in the equipment storage. A plurality of storage racks are installed in storage areas of various replacement parts, and the storage racks are installed at fixed intervals so as to classify and store various replacement parts.
S20: the pose model is stored.
Step S20 specifically includes:
s201: and enabling the teaching robot to replace various end effectors, and recording the replacement posture and track information when the teaching robot replaces the end effectors so as to generate and store a corresponding posture model.
S202: and enabling the teaching robot to load and unload various replacement parts, and recording loading and unloading postures and track information of the teaching robot to generate and store corresponding posture models.
Specifically, the movement of the teaching robot can be manually driven and planned by a worker, and teaching contents are completed.
S30: and selecting a photographing point of the robot.
As shown in fig. 2, step S30 specifically includes:
s301: and fixedly mounting the laser camera on an end effector for detecting and positioning.
An end effector of a robot refers to any tool that is attached to the edge (joint) of the robot with a certain function. This may include robotic grippers, robotic tool quick-change devices, robotic collision sensors, robotic rotary connectors, robotic pressure tools, compliant devices, robotic spray guns, robotic burr cleaning tools, robotic arc welding torches, robotic electric welding torches, and the like.
In this embodiment, the end effectors used for replacing the slide plate, the drain port, the nozzle cleaning, and the like are different from each other, and therefore, when different processing operations are performed, different end effectors need to be replaced.
S302: the robot is caused to replace the end effector with the laser camera mounted thereon.
Specifically, the corresponding end effector is selected to enable installation of the laser camera.
S303: and converting the end effector, and selecting a position where the visual field and the working distance are matched with the laser camera as a photographing point of the robot.
Specifically, according to the position relation between the laser camera and the calibration plate, the position where the visual field and the working distance are matched with the laser camera is selected as a photographing point of the robot.
S40: and calibrating the hand and the eye of the robot to obtain the hand-eye relationship.
Step S40 specifically includes:
s401: and acquiring cloud point coordinates of the laser camera and robot space coordinates of the robot.
Since the cloud point coordinates of the laser camera and the space coordinates of the robot are not consistent, the cloud point coordinates and the space coordinates of the robot need to be acquired respectively.
S402: and acquiring a coordinate transformation matrix to transform the cloud point coordinates of the laser camera into the space coordinates of the robot.
And acquiring a coordinate transformation matrix so as to realize the transformation between the cloud point coordinate of the laser camera and the space coordinate of the robot and generate the hand-eye relationship.
S50: and matching the posture model of the target area.
As shown in fig. 3, step S50 specifically includes:
s501: and enabling the robot to operate to the photographing point to take a picture so as to obtain a three-dimensional point cloud picture of the photographing point.
Specifically, the robot runs to each shooting point to take a picture respectively, and a three-dimensional point cloud picture corresponding to the shooting point is generated according to cloud point coordinates of the laser camera.
S502: and performing point cloud splicing on the three-dimensional point cloud picture of each photographing point to obtain a full-scene three-dimensional point cloud picture with complete attitude information.
Specifically, the three-dimensional point cloud picture collected by each photographing point is constructed into a full scene point cloud picture with complete attitude information according to a point cloud splicing algorithm.
S503: and cutting the full scene three-dimensional point cloud picture to acquire the three-dimensional attitude information of the target area.
Specifically, according to a point cloud segmentation algorithm, a full scene three-dimensional cloud picture is cut, and three-dimensional attitude information of a target area is obtained.
S504: and matching a pre-stored posture model according to the hand-eye relationship and the three-dimensional posture information of the target area to indicate the robot to perform corresponding ladle hot repair treatment.
As shown in fig. 4, step S504 specifically includes:
s5041: and according to the target area, selecting various replaced parts required to be assembled and disassembled by the robot or end effectors required to be replaced so as to determine target equipment.
Selection of the target device as one of the conditions for matching the pose model.
S5042: and matching the posture model according to the target equipment, the hand-eye relationship and the three-dimensional posture information.
Due to the same target device, various states may exist, such as before, during and after the replacement of the nozzle, and the posture of the nozzle has certain changes at different stages. And matching to a proper posture model by taking the target equipment, the hand-eye relationship and the three-dimensional posture information as the matching standard of the posture model.
S5043: and moving the robot to the placement position of the target equipment in the equipment storage library according to the track information in the corresponding attitude model so as to acquire the target equipment.
Specifically, if the target device is an end effector, the target device is replaced according to the replacement posture in the corresponding posture model.
And if the target equipment is used for replacing parts on the ladle, moving to a ladle hot repair target area according to the track information in the corresponding attitude model. And loading and unloading the target equipment according to the loading and unloading postures in the corresponding posture models.
In the embodiment, the conversion relation between the cloud point coordinates of the laser camera and the space coordinates of the robot is determined through hand-eye calibration, so that the robot can perform track movement according to a detection result obtained by the laser camera; and then, replacing and installing an end effector of the laser camera by the robot, sequentially operating to each photographing point to acquire a three-dimensional point cloud picture, constructing the acquired three-dimensional cloud picture into a full-scene three-dimensional point cloud picture with complete attitude information through a cloud point splicing algorithm after the acquisition is finished, and further segmenting the full-scene three-dimensional point cloud picture through a point cloud segmentation algorithm to acquire the three-dimensional attitude information of the target area.
And then, matching a pre-stored attitude model according to the three-dimensional attitude information of the target area to indicate the robot to operate according to the attitude model to perform ladle hot repair treatment.
In an embodiment, a ladle hot repair device is provided, which is used to perform the steel plate hot repair method in the foregoing method embodiment, and since the technical principle of the system embodiment is similar to that of the foregoing method embodiment, repeated descriptions on the same technical details are not repeated.
As shown in fig. 5, in this embodiment, the ladle hot repair device includes:
the acquisition module 10 is used for acquiring a hand-eye relationship of the robot and a three-dimensional point cloud picture of a plurality of photographing points;
the splicing module 20 is used for performing point cloud splicing processing on the three-dimensional point cloud pictures of the photographing points to obtain a full scene three-dimensional point cloud picture with complete posture information;
the cutting module 30 is configured to cut the full scene three-dimensional point cloud image to obtain three-dimensional posture information of a target area;
and the matching module 40 is used for matching a prestored posture model according to the hand-eye relationship and the three-dimensional posture information of the target area so as to instruct the robot to perform corresponding ladle hot repair treatment.
In one embodiment, a computer device is provided, which may be a control end, and its internal structure diagram may be as shown in fig. 6. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external server through a network connection. The computer program is executed by a processor to realize the functions or steps of the control end of the ladle hot repair method.
In one embodiment, there is provided a computer device comprising:
one or more processors and memory.
The memory has stored thereon a computer program that, when executed by the one or more processors, causes the apparatus to perform the above-described method.
In one embodiment, a computer-readable storage medium is provided, having stored thereon a computer program executable by one or more processors to cause the processors to perform the above-described method.
The readable storage medium includes a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the memory may be an internal storage unit of the computer device, such as a hard disk or a memory of the computer device. In other embodiments, the memory may be an external storage device of the computer device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the computer device. Of course, the memory may also include both internal and external storage units of the computer device. In this embodiment, the memory is generally used to store an operating system and various types of application software installed in the computer device, for example, the program codes of the ladle hot repair system in the above-described embodiment. In addition, the memory may also be used to temporarily store various types of data that have been output or are to be output. The processor may be a Central Processing Unit (CPU), controller, microcontroller, microprocessor, or other data Processing chip in some embodiments. The processor is typically used to control the overall operation of the computer device. In this embodiment, the processor is configured to execute the program code stored in the memory or process data, for example, execute the ladle hot repair system, so as to implement the ladle hot repair method.
The network interface may include a wireless network interface or a wired network interface, which is typically used to establish a communication link between the computer device and other electronic devices. For example, the network interface is used to connect the computer device to an external terminal through a network, establish a data transmission channel and a communication connection between the computer device and the external terminal, and the like. The network may be a wireless or wired network such as an Intranet (Intranet), the Internet (Internet), a Global System of Mobile communication (GSM), Wideband Code Division Multiple Access (WCDMA), a 4G network, a 5G network, Bluetooth (Bluetooth), Wi-Fi, and the like.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It should be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional units and modules is only used for illustration, and in practical applications, the above function distribution may be performed by different functional units and modules as needed, that is, the internal structure of the apparatus may be divided into different functional units or modules to perform all or part of the above described functions.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A ladle hot repair method is characterized by comprising the following steps:
acquiring a hand-eye relationship of the robot and a three-dimensional point cloud picture of a plurality of photographing points;
performing point cloud splicing on the three-dimensional point cloud picture of each photographing point to obtain a full scene three-dimensional point cloud picture with complete attitude information;
cutting the full scene three-dimensional point cloud picture to obtain three-dimensional attitude information of a target area;
and matching a pre-stored posture model according to the hand-eye relationship and the three-dimensional posture information of the target area to indicate the robot to perform corresponding ladle hot repair treatment.
2. The ladle hot repair method according to claim 1, wherein before acquiring the three-dimensional point cloud picture of the hand-eye relationship and the plurality of photographing points of the robot, the method further comprises:
enabling the teaching robot to replace various end effectors, recording replacement postures and track information when the teaching robot replaces the end effectors, generating corresponding posture models and storing the corresponding posture models;
and enabling the teaching robot to load and unload various replacement parts, and recording loading and unloading postures and track information of the teaching robot to generate and store corresponding posture models.
3. The ladle hot repair method according to claim 1, wherein before acquiring the three-dimensional point cloud picture of the hand-eye relationship and the plurality of photographing points of the robot, the method further comprises:
selecting a photographing point of the robot;
calibrating the hand and the eye of the robot to obtain the hand-eye relationship;
shooting is carried out at a shooting point of the robot so as to generate a three-dimensional point cloud picture.
4. The ladle hot repair method according to claim 2, wherein the step of matching a pre-stored posture model according to the hand-eye relationship and the three-dimensional posture information of a target area to instruct the robot to perform corresponding ladle hot repair treatment comprises the following steps:
according to the target area, selecting various replaced parts to be assembled and disassembled by the robot or end effectors to be replaced so as to determine target equipment;
matching the gesture model according to the target equipment, the hand-eye relationship and the three-dimensional gesture information;
and moving the robot to the placement position of the target equipment in the equipment storage library according to the track information in the corresponding attitude model so as to acquire the target equipment.
5. The ladle hot repair method according to claim 4, wherein after moving the robot to the placement position of the target device in the device storage according to the trajectory information in the corresponding attitude model to acquire the target device, the method further comprises:
if the target equipment is an end effector, replacing the target equipment according to the replacement posture in the corresponding posture model;
if the target equipment is used for replacing parts on the steel ladle, moving to a steel ladle hot repair target area according to the track information in the corresponding attitude model; and loading and unloading the target equipment according to the loading and unloading postures in the corresponding posture models.
6. The ladle hot repair method according to claim 3, wherein the performing hand-eye calibration of the robot to obtain a hand-eye relationship comprises:
acquiring cloud point coordinates of a laser camera and robot space coordinates of the robot;
and acquiring a coordinate transformation matrix to transform the cloud point coordinates of the laser camera into the space coordinates of the robot.
7. The ladle hot repair method according to claim 1, wherein before acquiring the three-dimensional point cloud picture of the hand-eye relationship and the plurality of photographing points of the robot, the method further comprises:
fixedly mounting a laser camera on an end effector for detecting and positioning;
causing the robot to replace the end effector with the laser camera mounted thereon;
and converting the end effector, and selecting a position where the visual field and the working distance are matched with the laser camera as a photographing point of the robot.
8. A ladle hot repair system, comprising:
the acquisition module is used for acquiring the hand-eye relationship of the robot and a three-dimensional point cloud picture of a plurality of photographing points;
the splicing module is used for carrying out point cloud splicing processing on the three-dimensional point cloud picture of each photographing point so as to obtain a full scene three-dimensional point cloud picture with complete attitude information;
the cutting module is used for cutting the full scene three-dimensional point cloud picture to acquire three-dimensional attitude information of a target area;
and the matching module is used for matching a prestored posture model according to the hand-eye relationship and the three-dimensional posture information of the target area so as to indicate the robot to carry out corresponding ladle hot repair treatment.
9. An apparatus, comprising:
one or more processors and a memory,
the memory has stored thereon a computer program that, when executed by the one or more processors, causes the apparatus to perform the method as recited in claims 1-7.
10. A computer-readable storage medium, having stored thereon a computer program which, when executed by one or more processors, causes an apparatus to perform the method as claimed in claims 1-7.
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| CN202210666846.3A CN115035203A (en) | 2022-06-13 | 2022-06-13 | Ladle hot repair method, system, equipment and medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116071231A (en) * | 2022-12-16 | 2023-05-05 | 群滨智造科技(苏州)有限公司 | Method, device, equipment and medium for generating ink-dispensing process track of glasses frame |
| CN116883584A (en) * | 2023-05-29 | 2023-10-13 | 东莞市捷圣智能科技有限公司 | Track generation method and device based on digital-analog, electronic equipment and storage medium |
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2022
- 2022-06-13 CN CN202210666846.3A patent/CN115035203A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116071231A (en) * | 2022-12-16 | 2023-05-05 | 群滨智造科技(苏州)有限公司 | Method, device, equipment and medium for generating ink-dispensing process track of glasses frame |
| CN116071231B (en) * | 2022-12-16 | 2023-12-29 | 群滨智造科技(苏州)有限公司 | Method, device, equipment and medium for generating ink-dispensing process track of glasses frame |
| CN116883584A (en) * | 2023-05-29 | 2023-10-13 | 东莞市捷圣智能科技有限公司 | Track generation method and device based on digital-analog, electronic equipment and storage medium |
| CN116883584B (en) * | 2023-05-29 | 2024-03-26 | 东莞市捷圣智能科技有限公司 | Track generation method and device based on digital-analog, electronic equipment and storage medium |
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