TWM630259U - Intelligent automatic spraying system and intelligent automatic processing system - Google Patents

Abstract

An intelligent automatic spraying system includes: a remote monitoring device; a router connected to the remote monitoring device through an internet, and selects a connection control path according to the signal of the remote monitoring device; an offset sensing and compensation device connected to the router, and including an offset sensing platform for sensing a workpiece at a first predetermined position and transmitting the offset signal of the workpiece to correct and compensate a preset spraying path; a rail car control device connected to the router, and including a rail car for holding the workpiece and moving the workpiece from the first predetermined position to a second predetermined position; and a robotic arm control device connected to the router, and including a mechanical arm for spraying the workpiece at the second predetermined position according to the preset spraying path after correction and compensation; whereby the machine is controlled by the remote monitoring device, and the arm control device cooperates with the rail car control device and the offset sensing and compensation device to complete the spraying operation within a certain working distance.

Description

Intelligent automatic spraying system and intelligent automatic processing system

The present invention relates to an intelligent automatic processing system, and in particular, to an intelligent automatic spraying system, which solves the problem that the quality of spraying is reduced when the workpiece is offset.

Spraying is a coating method that uniformly atomizes the paint into fine particles with the help of pressure through a spray gun, so that it adheres to the surface of the sprayed object. The spraying process is divided into manual spraying and automatic spraying. The surface is directly sprayed, and during the spraying process, the paint will become fine particles attached to the object to be sprayed through the air pressure. Solvents and particles also spread around the spraying area, making the working environment quite harsh, so more and more spraying operations have been replaced by robotic arms.

With the evolution of robotic arm and motion trajectory planning, there are countless cases of applying it to spraying systems, and the establishment of an automatic spraying system requires the functions of spraying action and workpiece conveyance; therefore, the use of robotic arms to carry out The part of automatic spraying is to fix the product to be sprayed on a rotatable bracket or hang it on the bracket, and then lock the bracket on the conveyor belt, and rotate continuously through the movement of the conveyor belt and the rotatable bracket. To achieve 100% uniform spray on the product surface. However, if the workpiece is placed on the bracket and deviates, it will naturally lead to poor uniformity of spraying, resulting in the reduction of the spraying quality of the workpiece.

Therefore, there is a need to provide an intelligent automatic spraying system that can solve the aforementioned problems.

One purpose of the present invention is to provide an intelligent automatic spraying system, which solves the problem of poor spraying uniformity and reduced workpiece spraying quality when the workpiece is offset.

According to the above purpose, the present invention provides an intelligent automatic spraying system, including: a remote monitoring device; a router, which connects the remote monitoring device through the Internet, and selects a connection control path according to the signal of the remote monitoring device ; an offset sensing and compensation device, which is connected to the router and includes an offset sensing platform for sensing a workpiece at a first predetermined position and transmitting the offset signal of the workpiece to the a router for correcting and compensating a preset spraying path; a rail car control device, which is connected to the router and includes a rail car for holding the workpiece and moving the workpiece from the first predetermined position to a first two predetermined positions; and a robotic arm control device, which is connected to the router and includes a robotic arm for spraying the workpiece at the second predetermined position according to the preset spraying path after correction and compensation; thereby, The remote monitoring device controls the robotic arm control device to cooperate with the rail car control device and the offset sensing and compensation device to complete the spraying operation within a certain working distance.

The present invention further provides an intelligent automatic processing system, comprising: a remote monitoring device; a router, which connects the remote monitoring device through the Internet, and selects a connection control path according to the signal of the remote monitoring device; an offset Sensing and compensating equipment, which is connected with the router, and includes an offset sensing platform for sensing a workpiece at a first predetermined position, and transmitting the offset signal of the workpiece to the router, so as to detect the workpiece. A preset machining path is corrected and compensated; a rail car control device is connected to the router and includes a rail car for holding the workpiece and moving the workpiece from the first predetermined position to a second predetermined position; and a robotic arm control device connected to the router and including a robotic arm, for processing the workpiece at the second predetermined position according to the preset processing path after correction and compensation; whereby the remote monitoring device controls the robotic arm control device to cooperate with the rail car control device and the offset sensing and compensation equipment to complete the processing operation within a certain working distance.

The new intelligent automatic spraying system mainly uses the offset sensing platform to quickly scan the workpiece boundary, and uses the concept of workpiece boundary projection. Compared with the size of the workpiece image, the development can intuitively and quickly calculate the workpiece offset. The displacement algorithm can immediately calculate the displacement and rotation offset of the workpiece. The calculation method of the displacement and rotation offset of the workpiece can reduce the required calculation cost, and is not affected by the color of the environment and the object. Therefore, the new intelligent automatic spraying system can solve the problem of poor spraying uniformity and lowering of the spraying quality of the workpiece when the workpiece is offset. Furthermore, the establishment of the Internet of Things helps the relevant personnel to know the field operation status in real time through remote computers outside the workplace, and make appropriate management or emergency control. At the same time, the remote monitoring interface will also store the operation information. To facilitate the establishment of work log and access.

1: Remote monitoring device

2: Router

3: Robotic arm control equipment

31: The first control unit

32: First digital output/input unit

33: The first servo controller

34: Robotic Arm

341: Airbrush

35: Spray gun control circuit

36: Pressure regulating valve

4: Rail car control equipment

41: Second control unit

42: Second digital output/input unit

43: Second Servo Controller

44: Railcar

5: Offset sensing and compensation equipment

51: The third control unit

52: Third digital output/input unit

53: Third Servo Controller

54: Offset Sensing Platform

81: Cube

82: Projection surface

9: Workpiece

9': car body parts

A: Offset angle

H: The height of the original workpiece

Hm,H`: length of scan projection after offset

P1: The first predetermined position

P2: Second predetermined position

W: The width of the original workpiece

Wm,W`: The width of the offset scan projection

θ: included angle

θ 1~θ 7: degrees of freedom

X0, Y0, Z0: coordinate system

X7, Y7, Z7: coordinate system

FIG. 1 is a block schematic diagram of the architecture of an intelligent automatic spraying system according to an embodiment of the new type.

FIG. 2 is a schematic side view of the structure of an intelligent automatic spraying system according to an embodiment of the new type.

FIG. 3 is a three-dimensional schematic diagram of a 7-axis suspended robot arm according to an embodiment of the new model.

FIG. 4 is a three-dimensional schematic view of a vehicle body part covered by a cube according to an embodiment of the new model.

FIG. 5 is a schematic diagram of a projection plane of a cube covering a vehicle body part according to an embodiment of the new model.

FIG. 6 is a schematic diagram of a projection plane of a cube covering a vehicle body part according to another embodiment of the new model.

6a to 6f are schematic diagrams of workpieces after shifting according to other embodiments of the novel.

FIG. 7a is a schematic diagram of the original preset spraying path according to an embodiment of the novel.

FIG. 7b is a schematic diagram of a preset spraying path after correction and compensation according to an embodiment of the novel.

FIG. 8a is a schematic diagram of the original preset spraying path of another embodiment of the novel.

8b is a schematic diagram of a preset spraying path after correction and compensation according to another embodiment of the novel.

In order to make the above-mentioned objects, features and characteristics of the present invention more obvious and easy to understand, the relevant embodiments of the present invention are described in detail as follows in conjunction with the drawings.

FIG. 1 is a block schematic diagram of the architecture of an intelligent automatic spraying system according to an embodiment of the new type. FIG. 2 is a schematic side view of the structure of an intelligent automatic spraying system according to an embodiment of the new type. Please refer to FIG. 1 and FIG. 2 , the intelligent automatic spraying system mainly includes: a remote monitoring device 1 ; Select the connection control path; an offset sensing and compensation device 5, which is connected to the router 2, and receives the signal from the router 2 to control an offset sensing platform 54 to a workpiece 9 (such as a car body part) A first predetermined position P1 is sensed, and an offset signal of the workpiece 9 is sent to the router 2 for correction and compensation of a preset spraying path; a rail car control device 4 is connected to the router 2 and receives The router 2 signal is used to control a rail car 44 to hold the workpiece 9 and move the workpiece 9 from the first predetermined position P1 to a second predetermined position P2; and a robotic arm control device 3 connected to the router 2 , and receive the signal from the router 2 to control a robotic arm 34 to spray the workpiece 9 at the second predetermined position P2 according to the compensated preset spraying path; thereby, the remote monitoring device 1 controls the machine The arm control device 3 cooperates with the rail car control device 4 and the offset sensing and compensation device 5 to complete the spraying operation within a certain working distance.

In this embodiment, the robotic arm control device 3 includes a first control unit 31 , a first digital output/input unit 32 , a first servo controller 33 and a robotic arm 34 . The first control unit 31 receives The signal of the router 2 is connected to the first digital output/input unit 32 to input the signal. The first digital output/input unit 32 is connected to the first servo controller 33 and outputs the signal. The first servo control The controller 33 is connected to the mechanical arm 34, and drives the mechanical arm 34 to act upon receiving a signal. In addition, because the robot arm 34 is provided with a spray gun 341, the robot arm control device 3 further includes: a spray gun control circuit 35 and a pressure regulating valve 36, the spray gun control circuit 35 is connected to the first digital output/input unit 32, and The pressure regulating valve 36 is connected to the spray gun control circuit 35 , and the pressure regulating valve 36 is used to control the spray amount of the spray gun 341 . The robot arm 34 sprays the workpiece 9 at the second predetermined position P2. Since the shape of the workpiece 9 to be sprayed (such as a car shell part) is complex, the robot arm control device 3 can use a 7-axis suspended robot arm, as shown in FIG. 3, to provide sufficient degrees of freedom, such as 7 degrees of freedom ( θ 1~θ 7), and convert the coordinate system of X0, Y0, Z0 into the coordinate system of X7, Y7, Z7.

The railcar control device 4 includes a second control unit 41 , a second digital output/input unit 42 , a second servo controller 43 and a railcar 44 . The second control unit 41 receives the signal from the router 2 and The second digital output/input unit 42 is connected to the second digital output/input unit 42 to input signals, the second digital output/input unit 42 is connected to the second servo controller 43 to output signals, the second servo controller 43 is connected to the rail car 44, and is The rail car 44 is actuated by receiving the signal. The rail car 44 holds the workpiece 9 and moves the workpiece 9 from the first predetermined position P1 to the second predetermined position P2 . The rail car 44 holds the workpiece 9 to be painted (eg, car shell parts).

The offset compensation device 5 includes a third control unit 51 , a third digital output/input unit 52 , a third servo controller 53 and an offset sensing platform 54 . The third control unit 51 receives the data from the router 2 . signal, and connect to the third digital output/input unit 52 to input the signal, the third digital output/input unit 52 is connected to the third servo controller 53 and outputs a signal, the third servo controller 53 is connected to the offset sensor The detection platform 54 is received, and the offset sensing platform 54 is driven to sense the workpiece 9 at the first predetermined position P1 upon receiving the signal. In this embodiment, the offset sensing platform 54 senses the length and width of the workpiece 9 by means of laser scanning.

The new model utilizes the concept of workpiece boundary projection, and develops an algorithm that can intuitively and quickly calculate the workpiece offset compared to the size of the workpiece image file. Please refer to FIG. 4 , assuming that the workpiece (for example, the body part 9 ′) is covered by the cube 81 , that is, the edges of the cube 81 are calculated by connecting straight lines with the most edge of the body part 9 ′. The length and width are H and W, respectively. Referring to FIG. 5 , as the X axis moves and the Z axis is scanned, the length and width of the projection surface 82 of the cube 81 can be obtained as Hm and Wm, respectively. Assuming that the workpiece is not offset, the relationship between the original size of the workpiece and the size scanned after the offset is: H=Hm, W=Wm. Referring to FIG. 6 , as the X-axis moves and the Z-axis is scanned, the length and width of the projection surface 82 of the cube 81 can also be obtained as Hm and Wm, respectively. Assuming that the workpiece has an angle of offset A, the relationship between the original size of the workpiece and the size scanned after the offset is as follows: Hcos(A)+Wsin(A)=Hm, formula (1) Hsin(A)+Wcos(A) =Wm, formula (2) where H is the height of the original workpiece, W is the width of the original workpiece, Hm is the length of the scanned projection after offset, and Wm is the width of the scanned projection after offset. From the above equations (1) and (2) of the relationship between the original size of the workpiece and the size of the scan after offset, the calculation formula can be obtained as follows: A =1/2 sin ^-1 [( H _m ² + W _m ² - H ² - W ² )/(2 HW )], formula (3)

After a preliminary test, the offset calculation of the workpiece 9 will generate a large error, and the position of the error is shown in the circle shown in Figure 6a, so the new model uses the above method to make some corrections and adjustments. First, find the straight line segment of the workpiece 9, such as the dashed line segment shown in Figure 6b, as the boundary of the workpiece 9, it can be found that there is an included angle θ between the side of the workpiece 9 and the original square. When the workpiece 9 has an angular offset as shown in Figure 6c, two situations will occur: one, when it is less than θ, and two, when it is greater than θ, the present invention will be described first with the second case.

Assuming that the workpiece 9 is offset by the angle A as shown in Figure 6d, the Wm and Hm measured by formula (1) will become W` and H` due to the angle θ between the workpiece 9 and the original square, as shown in Figure 6d. Figure, you can find the relationship between Wm and W` and Hm and H`. Equations (1) and (2) can be modified as follows: Hcos ( A )+ W ( sin ( A )+tan(θ)cos( A )= H `, Equation (4) Hsin ( A )+ W ( cos ( A )+ tan (θ)sin( A ))= W `, formula (5) After adding the squares of formulas (9)-(10), we can get: H ² + W ² + W ² tan ² (θ)-2 W ² tan(θ)sin(2 A )+2 WHsin (2 A )-2 WHtan (θ)= H ^{`2</sup> + W <sup>`2} , formula (6) can be modified after finishing The offset-aware formula of

Next, the first case is explained. When the offset angle is smaller than the angle θ between the side and the square, the measured Hm will be less than the value of one corner, as shown in the circled part in the lower right of Figure 6e. When this happens, the measured Hm is less than H, and Figure 6e also illustrates the relationship between Hm and H as follows: Hm = Hcos ( A ), formula (8)

The displacement offset calculation is to use a square to wrap the most edge point of the workpiece 9, and the coordinate system of each point of the square can be obtained, and the center point coordinate Pc can be expressed as follows: X _c =1/2( X _n + X _p ), the formula (10) Y _c =1/2( Y _n + Y _p ), formula (11) Z _c =1/2( Z _n + Z _p ), formula (12)

In the same way, it can be known that the offset coordinates are also covered by a square body in the above-mentioned manner, and the offset center point Pc' is calculated by using formulas (10)-(12).

Therefore, the displacement of each axis of X, Y, and Z is the displacement of the center point as follows: △ X = X' _c - X _c , formula (13) △ Y = Y' _c - Y _c , formula (14) △ Z = Z' _c - Z _c , formula (15)

However, when the test workpiece 9 is rotated offset, the directly measured length and width coordinates are not at the center of rotation. Therefore, the present invention proposes a displacement offset correction method.

As can be seen from Figure 6c, the measured values W` and H`, and the relationship between Wm and Hm brought into the formula, are formulas (4) and (5). Therefore, when the new model obtains the rotation offset angle, The actual Wm and Hm can be inversely deduced, and the midpoints of the actual edges Wm and Hm can be connected, and Figure 6f can be obtained. dots) have the following relationship: Xc= X _c + Lcos ( A ), formula (16) Yc= Y _c + Lsin ( A ), formula (17)

The trajectory planning and offset sensing compensation of the robot arm is based on the front shape of the workpiece 9. In this embodiment, the front shape of the workpiece 9 can be a square. The spraying path planned by the present invention is shown in Figs. Please refer to Figure 7a, when the workpiece is not offset, the attitude of the 7-axis suspended robotic arm follows the original spraying path 351; please refer to Figure 7b, when the workpiece is offset, the original spraying path needs to be rotated: Equation (18) and displacement: Calculated in formula (19), a new spraying path 352 is obtained, and the posture of the 7-axis suspended manipulator is also corrected by the offset angle and displacement, so that the manipulator keeps the same as the offset workpiece. relative attitude.

In another embodiment, the front shape of the workpiece 9 can be a triangle, and the spraying path planned by the present invention is shown in FIGS. 8 a and 8 b . Please refer to Figure 8a, when the workpiece is not offset, the posture of the 7-axis suspended robotic arm follows the original spraying path 351; please refer to Figure 8b, when the workpiece is offset, the original spraying path needs to be rotated: Equation (18) and displacement: calculation of formula (19), a new spraying path 352 is obtained, and the posture of the 7-axis suspended manipulator is also corrected by this rotation: formula (18) is corrected to allow the manipulator to maintain the offset workpiece have a relative attitude.

Please refer to FIG. 1 and FIG. 2 again, when the workpiece 9 to be sprayed is offset, the router 2 can be used to transmit the offset information in real time by means of the Internet of Things, so as to correct and compensate the preset spraying path. Since the size of the workpiece 9 to be sprayed is known, it is only necessary to use the offset sensing platform 54 to scan the workpiece 9 at the first predetermined position P1 to obtain characteristic values (such as the length and width of the workpiece 9 ), After the calculation, the offset of the workpiece 9 can be obtained, and it is not necessary to use a global scan.

Furthermore, in this embodiment, the operator can issue an instruction at the remote end via the remote monitoring device 1 to control the robotic arm control device 3 to cooperate with the rail car control device 4 to position the workpiece 9 at the second predetermined position P2 performs spraying; let the operator connect to the router 2 through the remote monitoring device 1 through the Internet, and the router 2 transmits the signal through the connection path respectively according to the command signal issued by the remote monitoring device 1 . When the second control unit 41 of the rail car control device 4 receives the signal from the router 2 and transmits it to the second digital output/input unit 42 via the second control unit 41 , the second digital output/input unit 42 receives the digital signal , the corresponding signal output is generated and transmitted to the second servo controller 43, so that the second servo controller 43 controls the rail car 44 to move to the second predetermined position P2; at the same time, the first control of the robot arm control device 3 The unit 31 receives the signal from the router 2, and transmits it to the first digital output/input unit 32 through the first control unit 31. The first digital output/input unit 32 receives the digital signal, and generates a corresponding signal output and transmits it to the first digital output/input unit 32. A servo controller 33 allows the first servo controller 33 to control the robot arm 34 to spray the workpiece held on the rail car 44 in a straight line, rotate, etc. when the rail car 44 reaches a fixed point or moves. The robotic arm 34 uses the spray gun 341 for spraying, so after the first digital output/input unit 32 receives the signal, it outputs the signal to the spray gun control circuit 35, and the spray gun control circuit 35 is used to control the pressure regulating valve 36 , so that the pressure regulating valve 36 is used to control the spray amount of the spray gun 341 .

The novel intelligent automatic spraying system further includes an electrical control unit 6, which is respectively connected to the robotic arm control device 3, the rail car control device 4 and the offset compensation device 5, and the electrical control unit 5 is an Uninterruptible power supply system, which can supply the electricity demander required to monitor the execution process.

The new intelligent automatic spraying system mainly uses the offset sensing platform to quickly scan the workpiece boundary, and uses the concept of workpiece boundary projection. Compared with the size of the workpiece image, the development can intuitively and quickly calculate the workpiece offset. The displacement algorithm can immediately calculate the displacement and rotation offset of the workpiece. The calculation method of the displacement and rotation offset of the workpiece can reduce the required calculation cost, and is not affected by the color of the environment and the object. Therefore, the new intelligent automatic spraying system can solve the problem of poor spraying uniformity and lowering of the spraying quality of the workpiece when the workpiece is offset. Furthermore, the establishment of the Internet of Things helps the relevant personnel to know the field operation status in real time through remote computers outside the workplace, and make appropriate management or emergency control. At the same time, the remote monitoring interface will also store the operation information. To facilitate the establishment of work log and access.

In addition, the present invention further provides an intelligent automatic processing system, comprising: a remote monitoring device; a router, which connects the remote monitoring device through the Internet, and selects a connection control path according to the signal of the remote monitoring device; a router; an offset sensing and compensation device, which is connected to the router and includes an offset sensing platform for sensing a workpiece at a first predetermined position, and transmitting an offset signal of the workpiece to the router, To correct and compensate a preset processing path (such as a spraying path); a rail car control device, which is connected to the router and includes a rail car, used to hold the workpiece and move the workpiece from the first predetermined position to a second predetermined position; and a robotic arm control device, which is connected to the router and includes a robotic arm for placing the workpiece in the second position according to the preset processing path (eg, spraying path) after correction and compensation. Processing (such as spraying) at a predetermined position; thereby, the robotic arm control device is controlled by the remote monitoring device to cooperate with the rail car control device and the offset sensing and compensation device to complete the processing operation within a certain working distance (such as spraying work).

To sum up, the present invention merely describes the preferred embodiments or examples of the technical means adopted by the present invention to solve the problems, and is not intended to limit the scope of the present invention. i.e. Fan and Benxin If the scope of the patent application is consistent with the text, or equivalent changes and modifications made in accordance with the scope of the patent, they are all covered by the scope of the patent.

1: Remote monitoring device

2: Router

3: Robotic arm control equipment

31: The first control unit

32: First digital output/input unit

33: The first servo controller

34: Robotic Arm

341: Airbrush

35: Spray gun control circuit

36: Pressure regulating valve

4: Rail car control equipment

41: Second control unit

42: Second digital output/input unit

43: Second Servo Controller

44: Railcar

5: Offset sensing and compensation equipment

51: The third control unit

52: Third digital output/input unit

53: Third Servo Controller

54: Offset Sensing Platform

Claims (10)

An intelligent automatic spraying system, comprising: a remote monitoring device; a router, which connects the remote monitoring device through the Internet, and selects a connection control path according to the signal of the remote monitoring device; an offset sensing and compensation The equipment is connected with the router and includes an offset sensing platform for sensing a workpiece at a first predetermined position and transmitting the offset signal of the workpiece to the router to spray a preset Correction and compensation of the path; a rail car control device connected to the router and including a rail car for holding the workpiece and moving the workpiece from the first predetermined position to a second predetermined position; and a robotic arm a control device, which is connected to the router and includes a robotic arm for spraying the workpiece at the second predetermined position according to the preset spraying path after correction and compensation; whereby the remote monitoring device controls the mechanical arm The arm control device cooperates with the rail car control device and the offset sensing and compensation device to complete the spraying operation within a certain working distance. According to the intelligent automatic spraying system of claim 1, the workpiece is a car shell part. The intelligent automatic spraying system of claim 1, wherein the robotic arm control device further comprises a first control unit, a first digital output/input unit and a first servo controller, and the first control unit receives the signal from the router and connected to the first digital output/input unit, the first digital output/input unit is connected to the first servo controller, and the first servo controller is connected to the robotic arm and drives the robotic arm to act. According to the intelligent automatic spraying system of claim 3, wherein the robotic arm is a 7-axis suspended robotic arm. The intelligent automatic spraying system of claim 3, wherein the robotic arm is provided with a spray gun, the robotic arm control device further comprises a spray gun control circuit and a pressure regulating valve, the spray gun control circuit is connected to the first digital output/input unit, and The pressure regulating valve is connected with the spray gun control circuit, and the pressure regulating valve is used to control the spray amount of the spray gun. The intelligent automatic spraying system of claim 1, wherein the rail car control device further comprises a second control unit, a second digital output/input unit, and a second servo controller, the second control unit receives the signal from the router and The second digital output/input unit is connected, the second digital output/input unit is connected with the second servo controller, and the second servo controller is connected with the rail car and drives the rail car to act. The intelligent automatic spraying system of claim 6, wherein the offset compensation device further comprises a third control unit, a third digital output/input unit, and a third servo controller, the third control unit receives the signal from the router and The third digital output/input unit is connected to the third servo controller, and the third servo controller is connected to the offset sensing platform and drives the offset sensing platform to the The workpiece is sensed. The intelligent automatic spraying system of claim 7, wherein the offset sensing platform senses the length and width of the workpiece by means of laser scanning. For the intelligent automatic spraying system of claim 1, the relationship between the original size of the workpiece and the size scanned after the offset is as follows: Hcos(A)+Wsin(A)=Hm Hsin(A)+Wcos(A)=Wm where, H is the height of the original workpiece, W is the width of the original workpiece, Hm is the length of the scan projection after offset, and Wm is the width of the scan projection after offset. An intelligent automatic processing system, comprising: a remote monitoring device; a router, which is connected to the remote monitoring device through the Internet, and selects a connection control path according to the signal of the remote monitoring device; an offset sensing and compensation device, which is connected to the router and includes an offset sensing device A measuring platform is used to sense a workpiece at a first predetermined position, and transmit the offset signal of the workpiece to the router, so as to correct and compensate a preset processing path; a rail car control device, which is connected with the The router is connected and includes a rail car for holding the workpiece and moving the workpiece from the first predetermined position to a second predetermined position; and a robotic arm control device connected to the router and including a robotic arm , for processing the workpiece at the second predetermined position according to the preset processing path after correction and compensation; thereby, the remote monitoring device controls the robotic arm control device to cooperate with the rail car control device and the offset sensor The measuring and compensation equipment completes the processing operation within a certain working distance.

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