CN112077862B - A visual camera robot - Google Patents
A visual camera robot Download PDFInfo
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- CN112077862B CN112077862B CN202011054728.4A CN202011054728A CN112077862B CN 112077862 B CN112077862 B CN 112077862B CN 202011054728 A CN202011054728 A CN 202011054728A CN 112077862 B CN112077862 B CN 112077862B
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- photography
- camera
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- photographing
- frame
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Multimedia (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Manipulator (AREA)
Abstract
本发明涉及机器视觉技术领域，公开了一种视觉拍照机器人，包括：架体；拍照单元，拍照单元包括具有容置腔的壳体、三维激光扫描仪，以及用于获得平面图像信号的2D相机；三维激光扫描仪和2D相机分别安装在容置腔内；控制单元，控制单元与拍照单元电性连接；机械手臂，机械手臂驱动架体移动和/或转动；其中，拍照单元的数量为多个，多个拍照单元分别固定在架体上并分别用于获取不同区域的扫描信号和图像信号，控制单元用于同时获取多个拍照单元的扫描信号和图像信号。本发明同时扫描车身上多个不同区域并计算出车身在吊具上的空间数据，与基准模板相比较后引导涂布系统正常作业，有效提高视觉定位效率及涂布效率。
The present invention relates to the field of machine vision technology, and discloses a visual photography robot, comprising: a frame; a photography unit, the photography unit comprising a shell with a receiving cavity, a three-dimensional laser scanner, and a 2D camera for obtaining a planar image signal; the three-dimensional laser scanner and the 2D camera are respectively installed in the receiving cavity; a control unit, the control unit is electrically connected to the photography unit; a mechanical arm, the mechanical arm drives the frame to move and/or rotate; wherein, there are multiple photography units, the multiple photography units are respectively fixed on the frame and respectively used to obtain scanning signals and image signals of different areas, and the control unit is used to simultaneously obtain scanning signals and image signals of multiple photography units. The present invention simultaneously scans multiple different areas on the vehicle body and calculates the spatial data of the vehicle body on the hanger, and guides the coating system to operate normally after comparison with the reference template, effectively improving the visual positioning efficiency and coating efficiency.
Description
Technical Field
The invention relates to the technical field of machine vision, in particular to a vision photographing robot.
Background
With the progress of science and technology, the robot technology is widely applied in various fields to replace the traditional manual operation, so that a large amount of labor force is greatly liberated, and the qualification rate and the production efficiency of products are improved. In the field of automobile manufacturing, part of automobile factories replace manual work to carry out coating work of degreasing agent or reinforcing agent on the surface of an automobile body by robots, so that the production efficiency is greatly improved. However, because the positions of the vehicle body on different lifting appliances have deviation, before the robot coats the vehicle body, the space position of the vehicle body on the lifting appliance needs to be positioned, and the space position of the vehicle body on the reference template is compared with the space position to generate an offset, so that the coating robot is guided to finish accurate coating work through the offset. The automatic gluing system and the gluing method for the whole truck disclosed by the publication No. CN110052349A, such as the automatic robot spraying system for the PVC glue at the bottom of the automobile disclosed by the publication No. CN201157810Y, scan the area to be coated of the automobile body by using the 3D vision system and calculate the actual size of the automobile body by using the 3D vision system, and guide the robot to finish accurate coating operation. In order to improve the accuracy of 3D vision system to automobile body scanning, above-mentioned robot needs the shooting angle and the shooting position of many times adjustment 3D vision camera to scan automobile body many places in order to reduce calculation error, need adjust the coating angle of spray gun before the coating simultaneously, lead to the robot to rotate the regulation number of times more, scan shooting time is longer, thereby has reduced vision positioning efficiency and coating efficiency.
Disclosure of Invention
The invention aims to provide the vision photographing robot which can scan a plurality of different areas on a vehicle body at the same time and calculate the space data of the vehicle body on a lifting appliance, and compared with a reference template, the vision photographing robot guides a coating system to normally operate, has high accuracy, prevents the robot from rotating for a plurality of times to adjust a scanning angle, and effectively improves vision positioning efficiency and coating efficiency.
In order to achieve the above object, the present invention provides a vision photographing robot comprising:
A frame body;
The photographing unit comprises a shell with a containing cavity, a three-dimensional laser scanner and a 2D camera for obtaining a plane image signal, wherein the three-dimensional laser scanner and the 2D camera are respectively arranged in the containing cavity;
The control unit is electrically connected with the photographing unit;
The mechanical arm drives the frame body to move and/or rotate;
the plurality of photographing units are respectively fixed on the frame body and are respectively used for acquiring scanning signals and image signals of different areas, and the control unit is used for simultaneously acquiring the scanning signals and the image signals of the plurality of photographing units.
As a preferred scheme, the photographing unit further comprises a light source for providing photographing light for the 2D camera, and the light source is fixed on the shell and is adjacent to the 2D camera.
As a preferable scheme, the shell is provided with a first outer side wall, a first slot hole for the three-dimensional laser scanner to scan and a second slot hole for the 2D camera to shoot images are formed in the first outer side wall, and the first slot hole and the second slot hole are respectively communicated with the accommodating cavity.
Preferably, the shell further has a third outer side wall smoothly connected with the first outer side wall, and a metal connecting sheet fixedly connected with the frame body is connected to the third outer side wall through threads.
As an optimal scheme, the frame body is of a square frame structure formed by sequentially splicing a plurality of metal profiles, and a plurality of photographing units are sequentially arranged on the peripheral side wall of the frame body.
Preferably, the mechanical arm is a six-degree-of-freedom mechanical arm.
Preferably, a plurality of the photographing units are located on the same plane.
Preferably, the number of the photographing units is 4-6, and a plurality of photographing units are arranged at intervals.
Preferably, the robot further comprises a base body for supporting the mechanical arm.
Compared with the prior art, the visual photographing robot has the beneficial effects that:
The vision photographing robot is internally provided with a plurality of photographing units, each photographing unit comprises a three-dimensional laser scanner for scanning a vehicle body and a 2D camera for obtaining plane image signals, and the positioning accuracy of the vehicle body is improved through the cooperation of scanning of the three-dimensional laser scanner and photographing of the 2D camera. Simultaneously, when the mechanical arm controls the frame body to swing to a scanning or photographing position, the plurality of photographing units simultaneously scan three-dimensional data of different positions on the vehicle body and photograph images of different positions for comparison with the reference template, and the control unit simultaneously acquires the data scanned by the plurality of photographing units and the photographed images and calculates the images, so that the condition that one photographing unit is used for scanning or photographing the vehicle body for multiple times is avoided, the positioning time of the vision photographing robot on the vehicle body is effectively shortened, and the coating efficiency is improved. In addition, the spraying system is independently arranged outside the visual photographing robot, so that the visual photographing robot does not need to control the spray gun of the spraying system to move or rotate, the coating operation of the spraying system is almost synchronous with the positioning operation of the visual photographing robot, and the overall efficiency of positioning and coating the vehicle body is improved.
Drawings
Fig. 1 is a schematic perspective view of a vision photographing robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a photographing unit according to an embodiment of the present invention;
In the figure, 10-support body, 2-photographing unit, 21-casing, 211-first lateral wall, 212-second lateral wall, 213-third lateral wall, 22-first slotted hole, 23-second slotted hole, 24-data transmission terminal, 25-power supply terminal, 27-light source, 30-robotic arm, 40-metal connecting sheet and 50-base body.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or in communication between two elements or in an interaction relationship between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
As shown in fig. 1-2, a vision photographing robot according to a preferred embodiment of the present invention includes a frame 10, a photographing unit 2, a control unit (not shown), and a robot arm 30. The photographing unit 2 includes a housing 21 having a receiving cavity, a three-dimensional laser scanner (not shown in the figure) and a 2D camera (not shown in the figure) for obtaining a planar image signal, wherein the three-dimensional laser scanner and the 2D camera are respectively installed in the receiving cavity, a control unit is electrically connected with the photographing unit 2, a mechanical arm 30 drives the frame 10 to move and/or rotate, the number of the photographing units 2 is multiple, and the plurality of photographing units 2 are respectively fixed on the frame 10 and respectively used for obtaining scanning signals and image signals of different areas, and the control unit is used for simultaneously obtaining the scanning signals and the image signals of the plurality of photographing units 2.
Based on the above structure, when the mechanical arm 30 controls the frame 10 to swing to the scanning or photographing position, the plurality of photographing units 2 simultaneously scan three-dimensional data of different positions on the vehicle body and photograph images of different positions for comparison with the reference template, and the control unit simultaneously acquires the data scanned by the plurality of photographing units 2 and the photographed images and calculates, so that the plurality of times of scanning or photographing of the vehicle body by one photographing unit 2 is avoided, the positioning time of the vision photographing robot on the vehicle body is effectively reduced, and the coating efficiency is improved.
The three-dimensional laser scanner is a main component of the three-dimensional laser scanning system in the prior art, and can quickly reconstruct three-dimensional model of a measured object and various drawing data such as lines, planes, bodies and the like by recording the three-dimensional coordinates, reflectivity, textures and the like of a large number of dense points on the surface of the measured object by utilizing the principle of laser ranging. Typically, three-dimensional laser scanners include a laser, a receiver, a time counter, a motor-controlled rotatable filter, a control circuit board, a microcomputer, a CCD sensor, a software system, and the like. The working principle of the three-dimensional laser scanner for acquiring the size of the vehicle body is that firstly, a mounting hole of a vehicle body frame and a windshield rubber nail is selected as a characteristic hole, a laser emits an inclined laser beam and irradiates the periphery of the characteristic hole to form a light spot, the laser beam is scattered or reflected to form a reflected light beam, a receiver receives the reflected light beam, a CCD sensor in the three-dimensional laser scanner detects the angle of the reflected light beam and calculates the height distance between a photographing unit and the light spot, and when the hoisted vehicle body is displaced, the measured height distance is changed, so that the displacement of the characteristic hole is measured by laser, and the RX/RY/Z data of the laser scanning position is calculated.
Further, the 2D camera is used for shooting a plane image of the characteristic hole, acquiring X/Y/RZ data of the characteristic hole, transmitting the X/Y/RZ data to the control unit, simultaneously acquiring scanning data and shooting data of a plurality of shooting units by the control unit for calculation, finally acquiring data (X/Y/Z/RX/RY/RZ) of a vehicle frame, correcting the data of the vehicle frame by comparing with a reference template, transmitting the corrected vehicle frame data to the coating robot, and guiding the coating robot to finish coating work.
Further, the photographing unit of the present invention further includes a light source 27 for providing photographing light to the 2D camera, and the light source 27 is fixed on the housing 21 and is adjacent to the 2D camera. Because the planar image shot by the 2D camera is easily affected by the luminosity in the natural environment, the image shot by the 2D camera is darker in the dark environment, and the accuracy of later analysis is affected, the light source 27,2D is arranged on the shell 21, and the light source 27 provides shooting light when the camera shoots, so that the imaging definition of the 2D camera is ensured. In order to avoid the light source 27 from influencing the scanning operation of the three-dimensional laser scanner on the vehicle body frame, the light source 27 of the invention is preferably a flash lamp. The light source 27 does not emit an illumination beam when the three-dimensional laser scanner operates, and the light source 27 provides an illumination beam when the 2D camera photographs, ensuring definition of imaging by the 2D camera.
Further, referring to fig. 2, the housing 21 has a first outer sidewall 211, and a first slot 22 for scanning by the three-dimensional laser scanner and a second slot 23 for capturing images by the 2D camera are formed on the first outer sidewall 211, and the first slot 22 and the second slot 23 are respectively communicated with the accommodating cavity. The area size of the first slot 22 depends on the lens area of the three-dimensional laser scanner, the area size of the second slot 23 depends on the lens size of the 2D camera, and the lens of the three-dimensional laser scanner and the lens of the 2D camera are arranged on the same side of the shell 21, so that the three-dimensional laser scanner and the 2D camera can acquire point data or shoot plane images in the same area of the vehicle body, the trouble of selecting a plurality of different shooting positions is avoided, and meanwhile, the calculation workload is reduced to reduce calculation errors. If the lens of the three-dimensional laser scanner and the lens of the 2D camera are not located on the same side of the housing 21, when the point data is collected or the planar image is captured in the same area of the vehicle body, the housing 21 needs to be rotated to adjust the scanning angle or the capturing angle, the operation is troublesome, and an angle adjusting mechanism needs to be installed on the housing 21, so that the manufacturing cost is increased.
Further, referring to fig. 2, the housing 21 further has a second outer sidewall 212 relatively far from the first outer sidewall 211, and the second outer sidewall 212 is sequentially provided with a data transmission terminal 24 and a power terminal 25 electrically connected to the light source 27, the 2D camera and the laser, respectively. The data transmission terminal 24 transmits the offset calculated by the photographing unit to the coating robot through a data line to guide the coating robot to complete the coating operation, and the power supply terminal 25 is externally connected with a working power supply to respectively provide stable working voltages for the light source 27 and the laser.
Further, referring to fig. 2, the housing 21 further has a third outer sidewall 213 smoothly connected to the first outer sidewall 211, and a metal connecting piece 40 for fixedly connecting with the frame 10 is screwed to the third outer sidewall 213. Preferably, the third outer sidewall 213 is provided with a plurality of mounting holes communicating with the accommodating cavity. The mounting hole can be provided with internal thread, adopts the bolt or screw to pass behind the screw hole with casing 21 detachability and one side interconnect of metal connection piece 40, and metal connection piece 40 also adopts threaded connection on support body 10, makes things convenient for dismouting and change. Preferably, the third outer sidewall 213 is at a right angle to the first outer sidewall 211.
Further, the frame body 10 is a square frame structure formed by sequentially splicing a plurality of metal profiles, and the photographing units 2 are sequentially arranged on the peripheral side wall of the frame body 10. The frame body 10 is made of metal section bars, has light weight and high strength, and can be used for a long time.
Preferably, the robot 30 is a six-degree-of-freedom robot 30. The six-degree-of-freedom mechanical arm 30 can control the frame body 10 to move on the X-axis, the Y-axis, the Z-axis, the X-axis, the Y-axis and the Z-axis so as to meet the requirement that the photographing unit 2 scans or photographs any position on the vehicle body.
Preferably, the plurality of photographing units 2 are located on the same plane for easy disassembly and improved aesthetic appearance.
Preferably, the number of the photographing units 2 is 3-6, and the plurality of photographing units 2 are arranged at intervals. Referring to fig. 1, the photographing units 2 are exemplarily provided with 3, wherein a plurality of photographing units 2 are controlled to work according to different types of vehicle bodies, so that the vision photographing robot of the invention is suitable for a plurality of different types of vehicle body positioning work, and the universality is improved.
Further, in order to make the movement of the robot arm 30 more free and smooth, the vision photographing robot of the present invention further includes a base 50 for supporting the robot arm 30. The base 50 is preferably welded by metal pipes, and the mechanical arm 30 is fixed on top of the base 50, so that the base 50 does not interfere with the movement track of the mechanical arm 30 when the mechanical arm 30 is manufactured.
In summary, the embodiment of the invention provides a vision photographing robot, a plurality of photographing units 2 are arranged in the vision photographing robot, each photographing unit 2 comprises a three-dimensional laser scanner for scanning a vehicle body and a 2D camera for obtaining a plane image signal, and the positioning accuracy of the vehicle body is improved through the cooperation of scanning of the three-dimensional laser scanner and photographing of the 2D camera. Meanwhile, when the mechanical arm 30 controls the frame body 10 to swing to a scanning or photographing position, the plurality of photographing units 2 simultaneously scan three-dimensional data of different positions on the vehicle body and photograph images of different positions for comparison with the reference template, and the control unit simultaneously acquires the data scanned by the plurality of photographing units 2 and the photographed images and calculates the images, so that the condition that one photographing unit 2 is used for scanning or photographing the vehicle body for a plurality of times is avoided, the positioning time of the vision photographing robot on the vehicle body is effectively shortened, and the coating efficiency is improved. In addition, the spraying system is independently arranged outside the visual photographing robot, so that the visual photographing robot does not need to control the spray gun of the spraying system to move or rotate, the coating operation of the spraying system is almost synchronous with the positioning operation of the visual photographing robot, and the overall efficiency of positioning and coating the vehicle body is improved.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (8)
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| CN202011054728.4A CN112077862B (en) | 2020-09-29 | 2020-09-29 | A visual camera robot |
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| CN202011054728.4A CN112077862B (en) | 2020-09-29 | 2020-09-29 | A visual camera robot |
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| CN112077862B true CN112077862B (en) | 2025-01-03 |
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| CN113421207A (en) * | 2021-08-23 | 2021-09-21 | 深圳市信润富联数字科技有限公司 | Visual inspection method, apparatus, product and computer storage medium |
| CN117549352B (en) * | 2023-12-05 | 2024-04-09 | 广东亚数智能科技股份有限公司 | Three-dimensional scanning manipulator for large part identification and control method thereof |
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| JPH0634646Y2 (en) * | 1986-11-06 | 1994-09-07 | 川崎重工業株式会社 | Working device for car body |
| JP5204575B2 (en) * | 2008-07-29 | 2013-06-05 | 川崎重工業株式会社 | Position measuring method and position measuring apparatus |
| US9964398B2 (en) * | 2015-05-06 | 2018-05-08 | Faro Technologies, Inc. | Three-dimensional measuring device removably coupled to robotic arm on motorized mobile platform |
| CN108568835B (en) * | 2018-04-28 | 2024-08-09 | 上海发那科机器人有限公司 | Robot servo paw for carrying automobile bumper cooperatively by double machines |
| CN109738340A (en) * | 2019-01-25 | 2019-05-10 | 上海爱被思智能科技有限公司 | Aggregate particle size real-time analysis system and aggregate production line |
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|---|---|---|---|---|
| CN107367242A (en) * | 2016-05-13 | 2017-11-21 | 大连国检计量有限公司 | Laser three-dimensional scanning detector |
| CN110605740A (en) * | 2019-10-12 | 2019-12-24 | 上海德容智能科技有限公司 | Vision guide feeding system suitable for automatic automobile roof carrying process |
| CN212265861U (en) * | 2020-09-29 | 2021-01-01 | 广汽本田汽车有限公司 | A vision camera robot |
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