Machine vision guided intelligent flexible control system with body
By combining the vision control module and the mechanical control module, the problem of feature points not being able to correspond one-to-one due to abnormal stacking of workpieces was solved, and automatic correction and accurate adsorption of workpiece position were achieved.
Patent Information
- Application Number
- CN202511112610.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-09
- Publication Date
- 2025-11-11
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
In an embodied intelligent flexible control system, abnormal stacking of workpieces can cause feature points to not correspond one-to-one, resulting in the robotic arm's adsorption end being unable to align with the workpiece's adsorption area.
The vision control module captures the feature points of the workpiece, and combined with the position adjustment module and the detection status response module, it identifies the position distribution of the workpiece and automatically corrects the position of the adsorption robot arm, thus completing the adsorption process of the workpiece in conjunction with the mechanical control module.
It improves adsorption efficiency and enables automatic correction for different workpieces and stacking types, ensuring that the robotic arm accurately adsorbs the top workpiece.
Smart Images
Figure CN120921376A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of machine vision technology, and more specifically, to a machine vision-guided embodied intelligent flexible control system. Background Technology
[0002] Embodied intelligence flexibility refers to the dynamic interaction between physical entities and the environment. Its core lies in the deep integration of the agent's cognition with its physical form, enabling machines to autonomously adjust their strategies and behavior patterns in unstructured environments, thus breaking through the operational limitations of traditional rigid automation systems.
[0003] In the process of embodied intelligent flexible control, visual sensing is needed to detect changes in the current operating space in order to make decisions and adjustments. For example, in the process of transporting workpieces in a factory, a robotic arm is needed to pick up and transport different workpieces. When the workpieces are stacked in the normal position, the relative position between the picking end and the workpiece is constant, and the robotic arm only needs to mechanically pick up and transport the workpieces according to the control program. When the placement of the workpieces is abnormal, such as... Figure 4-6 As shown, under normal circumstances, workpieces should be stacked neatly, with all sides flush, and only the feature points of the topmost workpiece should be exposed. Figure 4-6 The workpieces in the process may shake during transport, causing them to be stacked in an overlapping manner and protrude outwards from the sides. This makes it difficult for the vision sensing device to capture the feature points of the workpieces, as the feature points of both the upper and lower workpieces are exposed. As a result, the feature points cannot be matched one by one, leading to abnormal feature point capture. Consequently, the suction end of the robotic arm cannot be aligned with the suction area of the workpiece.
[0004] To address the aforementioned issues, there is an urgent need for a machine vision-guided embodied intelligent flexible control system capable of correcting abnormal workpiece placement. Summary of the Invention
[0005] The purpose of this invention is to provide a machine vision-guided embodied intelligent flexible control system. This system utilizes a vision monitoring module to capture feature points of each workpiece using machine vision, and plans the adjustment route for the vision inspection equipment based on the positional distribution of these feature points. By combining the visually captured feature point values along the adjustment route, the system determines the corresponding workpiece position distribution, identifies different stacking types of different workpieces, and automatically corrects the adsorption position of the suction robot arm during the identification process. In conjunction with the mechanical control module, after completing the top workpiece positioning, the system controls the suction robot arm to adsorb the top workpiece, thereby solving the problems mentioned in the background art, namely:
[0006] The feature points cannot be matched one-to-one, resulting in abnormal feature point capture, which makes it impossible for the suction end of the robotic arm to be aligned with the suction area of the workpiece.
[0007] To achieve the above objectives, a machine vision-guided embodied intelligent flexible control system is provided, including a vision control module, a position adjustment module, a detection status response module, and a mechanical control module.
[0008] The vision control module collects the angle and distance of the current workpiece feature points, which serve as the basis for the subsequent position adjustment trajectory of the laser detection instrument.
[0009] During the specific testing process, the position adjustment module controls the position change trajectory of each of the laser detection instruments through the control terminal. The laser detection instruments capture feature points of the workpiece in different areas according to the position change trajectory. Since the distribution of feature points of the workpiece is consistent with the final position trajectory of the laser detection instrument, it is only necessary to capture all feature points on the same workpiece to locate the current workpiece.
[0010] Since the workpieces may overlap due to rotation, meaning that the feature points of the bottom workpiece and the top workpiece are on the same trajectory, it is necessary to use the detection status response module to obtain the position status of the workpiece by combining the collected angle and distance of the workpiece feature points. Using the straight-line distance between the workpiece feature points and the laser detection instrument as the judgment criterion, the workpieces at the bottom are removed in order of length from long to short. The position of the adjustment table is adjusted by the displacement component, and the trajectory of the laser detection instrument is adjusted in real time to capture the position of the workpiece at the top. Finally, the mechanical control module responds to the current position status of the monitored workpiece and determines whether it is on the adsorption surface.
[0011] When the monitored workpiece is positioned on the adsorption surface, the adsorption robotic arm is controlled to adsorb the workpiece.
[0012] Conversely, when the position of the workpiece being inspected is not on the adsorption surface, the position of each laser detection instrument continues to be adjusted according to the position change trajectory until the workpiece is located on the adsorption surface.
[0013] Compared with the prior art, the beneficial effects of the present invention are as follows:
[0014] In this machine vision-guided embodied intelligent flexible control system, the vision monitoring module uses machine vision to capture the feature points of each workpiece and plans the adjustment route of the vision inspection equipment according to the position distribution of the workpiece feature points. Combining the visually captured feature point values on the adjustment route, the system judges the corresponding workpiece position distribution, identifies different stacking types of different workpieces, and automatically corrects the adsorption position of the adsorption robotic arm during the identification process. After the mechanical control module completes the top workpiece positioning, it controls the adsorption robotic arm to adsorb the top workpiece, improving adsorption efficiency and automatically realizing the adsorption correction work. Attached Figure Description
[0015] Figure 1 This is a block diagram of the overall system structure of the present invention;
[0016] Figure 2 This is one of the schematic diagrams simulating the positioning of the workpiece according to the present invention;
[0017] Figure 3 This is a second schematic diagram of the positioning workpiece of the present invention;
[0018] Figure 4 This is one of the schematic diagrams for detecting abnormally stacked workpieces according to the present invention;
[0019] Figure 5 This is the second schematic diagram of the abnormal stacking workpiece detection method of the present invention;
[0020] Figure 6 This is the third schematic diagram of the abnormal stacking workpiece detection method of the present invention;
[0021] Figure 7 This is a schematic diagram simulating the linear distance detection of the workpiece according to the present invention.
[0022] The meanings of the labels in the diagram are as follows:
[0023] 10. Adjustment table;
[0024] 20. Turntable; 210. Laser detection instrument;
[0025] 30. Adsorption robotic arm;
[0026] 401. Near-end workpiece; 402. Far-end workpiece. Detailed Implementation
[0027] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0028] Please see Figure 1 As shown, a machine vision-guided embodied intelligent flexible control system is provided, including a vision control module, a position adjustment module, a detection status response module, and a mechanical control module.
[0029] The vision control module is equipped with multiple laser detection instruments 210 for capturing workpiece feature points, and collects the angle and distance of the current workpiece feature points;
[0030] The position adjustment module controls the position change trajectory of each laser detection instrument 210 through the control terminal, and the laser detection instrument 210 captures the feature points of the workpiece in different areas according to the position change trajectory.
[0031] The detection status response module combines the angles and distances of the collected workpiece feature points to obtain the position status of the detected workpiece.
[0032] The mechanical control module is equipped with an adsorption robotic arm 30 for adsorbing workpieces. The mechanical control module responds to the current position status of the workpiece being detected and determines whether it is on the adsorption surface.
[0033] When the monitored workpiece is positioned on the adsorption surface, the adsorption robotic arm 30 is controlled to adsorb the workpiece.
[0034] Conversely, when the position of the workpiece being inspected is not on the adsorption surface, the position of each laser detection instrument 210 continues to be adjusted according to the position change trajectory until the workpiece is located on the adsorption surface.
[0035] The details are as follows:
[0036] To enable workpiece recognition, a vision control module is configured with multiple laser detection instruments 210 for capturing workpiece feature points. These instruments acquire the angles and distances of the current workpiece feature points. During the acquisition process, a position adjustment module controls the position change trajectory of each laser detection instrument 210 via a control terminal. Specifically, each laser detection instrument 210 moves along its position change trajectory. The details are as follows:
[0037] First, the unit displacement of the laser inspection instrument 210 is set. For better explanation in this design, the workpiece is square. The control end includes an adjustment table 10, and a turntable 20 is rotatably mounted on one side of the adjustment table 10. Each laser inspection instrument 210 is mounted on the side of the turntable 20. A rotating assembly connects the laser inspection instrument 210 to the adjustment table 10. This rotating assembly can be a servo motor-driven gear that adjusts the position of the laser inspection instrument 210, thereby changing its position. The positional change trajectory of each laser inspection instrument 210 corresponds to the distribution of feature points on the workpiece. For example... Figure 2The various feature points of the workpiece are distributed at their respective vertices, i.e., all located on the inscribed circle of the workpiece. The trajectory of the laser inspection instrument 210's position change is this inscribed circle. The laser inspection instrument 210, rotating along this inscribed circle, can capture various feature points on the workpiece, such as feature points X1 and X2 in 2-3. Since the trajectory is the inscribed circle, the unit displacement of the laser inspection instrument 210 is the rotation angle. A displacement component is provided on the other side of the adjustment table 10, controlling the entire adjustment table 10 to move along the top of the workpiece area until a laser inspection instrument 210 captures a feature point on the workpiece. The rotation component then drives the laser inspection instrument... The laser detector 210 adjusts its position along the changing trajectory. If no new feature point is captured within the specific trajectory (the example in this scheme is a circular trajectory; if the laser detector 210, which initially captured a feature point, still fails to capture any other feature points during its rotation from 0 degrees to 180 degrees, it indicates that the changing trajectory of the laser detector 210 is tangent to the distribution trajectory of the feature points on the workpiece), the displacement component on the side of the adjustment table 10 drives the entire adjustment table 10 to move along the line connecting the center of the laser detector 210 and its changing trajectory, thereby driving the laser detector 210 to adjust its position along the changing trajectory until it captures a new feature point within the specific trajectory.
[0038] Even if the laser inspection instrument 210 captures new feature points within a specific trajectory, three types of workpiece stacking anomalies may still occur, such as... Figure 4 As shown, adjacent feature points of the near-end workpiece 401 and the far-end workpiece 402 form a 45-degree angle, as... Figure 5 As shown, adjacent feature points of the near-end workpiece 401 and the far-end workpiece 402 form an angle of less than 45 degrees or greater than 45 degrees, such as... Figure 6 As shown, the near-end workpiece 401 and the far-end workpiece 402 are stacked alternately, resulting in the interlacing of the distribution trajectories of their feature points.
[0039] When the above situation occurs, the position state of the monitored workpiece is obtained by combining the angle and distance of the collected workpiece feature points with the detection state response module. This, along with the mechanical control module, responds to the current position state of the monitored workpiece and determines whether it is on the adsorption surface. Since the positional relationship between the feature points of each workpiece remains constant (i.e., the distance and relative angle are constant), when one feature point is captured, the position of the laser detection instrument 210 is adjusted according to the changing trajectory. The laser detection instrument 210 detects the feature point once every unit displacement. Because the distance between all feature points on the same workpiece is consistent, it is marked as the constant feature point spacing. That is, the constant feature point spacing = the product of the unit displacement and the number of adjustments. Here, the number of adjustments is related to the specific structure of the workpiece and is set in advance according to the distance between each feature point of the workpiece during actual operation. When the distance between the detected adjacent feature point and the initial feature point is less than the constant feature point spacing, it is necessary to consider... Figure 4 and Figure 5 In the case of two workpieces being rotated and stacked, the workpiece to be positioned may be the bottom workpiece, i.e., the far end workpiece 402, or the top workpiece, i.e., the near end workpiece 401. In this case, it is necessary to divide the positions of the initial feature point and the adjacent feature point, and to distinguish the positions of the two by distance calculation.
[0040] like Figure 7 As shown, the straight-line distance between the laser inspection instrument 210 and the near-end workpiece 401 is d1, and the straight-line distance between the laser inspection instrument 210 and the far-end workpiece 402 is d2. The distance calculation formula is: Where d is the straight-line distance between the laser detection instrument 210 and the feature point on the workpiece, v0 is the speed of light, and the laser measurement method is used for distance calculation in this scheme. t is the total time taken for the laser detection instrument 210 to emit laser to the feature point and receive feedback from the feature point. When the straight-line distance of the initial feature point is less than the straight-line distance of the adjacent feature point, it indicates that the workpiece initially detected is the bottom workpiece and cannot be used as the current adsorption workpiece object. At this time, the workpiece corresponding to the adjacent feature point is taken as the workpiece to be adsorbed, and the adjacent feature point is taken as the initial feature point. The laser detection instrument 210 is adjusted twice to obtain the second adjacent feature point and calculate the distance between the second adjacent feature point and the initial feature point. If they are the same, the straight-line distance between the second adjacent feature point and the initial feature point is calculated. If they are the same, the position of the laser detection instrument 210 is adjusted again, and the distance and straight-line distance of the adjacent feature points are calculated until all feature points of the workpiece to be adsorbed have been detected and the distance and straight-line distance are consistent. This indicates that the current workpiece to be adsorbed is at the top of the workpiece stacking area and is used as the adsorption workpiece object.
[0041] Conversely, if during the detection process, the distance between adjacent feature points and the initial feature point does not conform to the constant distance, and the straight-line distance between adjacent feature points is less than the straight-line distance between the initial feature point, then the workpiece corresponding to the adjacent feature point is updated as the workpiece to be adsorbed, and feature point detection continues until the distance between all adjacent feature points on the workpiece to be adsorbed conforms to the constant distance, and the straight-line distance is the shortest among the workpieces that have been detected. Then, the current workpiece to be adsorbed is marked as the workpiece object to be adsorbed.
[0042] During the detection process, if the spacing between adjacent feature points on the workpiece to be adsorbed, captured by the laser detection instrument 210 through position adjustment, all conform to a constant spacing, and the straight-line distance between each adjacent feature point is the same, but the laser detection instrument 210 fails to capture the remaining feature points on the workpiece under a specific trajectory, it indicates that the current workpiece to be adsorbed is in a state of staggered stacking, i.e. Figure 6 In the situation shown, the position needs to be readjusted by driving the adjustment stage 10 through the displacement component, and new feature points need to be captured again. During the capture process, the straight-line distance of the feature points is compared. Workpieces with a straight-line distance greater than the straight-line distance of the feature points on the component to be adsorbed are removed, and workpieces with a straight-line distance less than the straight-line distance of the feature points on the component to be adsorbed are retained. A new round of adjacent feature point spacing detection and feature point straight-line distance detection is then performed until the distance between all adjacent feature points on the workpiece to be adsorbed in the new round meets the constant spacing, and the straight-line distance is the shortest among the workpieces that have been detected. This indicates that the current workpiece to be adsorbed is at the top of the workpiece stacking area and is used as the workpiece object to be adsorbed.
[0043] Furthermore, to improve the subsequent adsorption efficiency and reduce the time for secondary adsorption and workpiece positioning, this solution plans the secondary adsorption route using a straight-line distance, as detailed below:
[0044] First, the thickness of the workpiece is obtained and marked as the unit thickness. During the inspection process, in some cases, the laser inspection instrument 210 first positions the bottom of the workpiece, then changes the adsorption path by measuring the straight-line distance, and adjusts the position of the adjustment stage 10 through the displacement component to adjust it to the adsorption area of the topmost workpiece. Of course, if it is... Figure 5-6In the case of the above, there is no need to adjust the position through the displacement component. If the difference in the straight-line distance between the feature points of the workpiece before and after adjustment = d2-d1 is exactly the unit thickness, then the two workpieces on the surface are stacked on each other. At this time, the adsorption route from the bottom workpiece to the top workpiece adsorption area is recorded. After the adsorption work of the current top workpiece is completed, the reverse adsorption route of the current adsorption route is used to adjust the position of the adjustment table 10. If the straight-line distance between the feature points of the workpiece before and after adjustment = d2-d1 is an integer multiple of the unit thickness, then after the adsorption work of the integer number of workpieces is completed in sequence, the adsorption route is adjusted to the initial adsorption position of the top workpiece, and the reverse adsorption route of the current adsorption route is used to adjust the position of the adjustment table 10.
[0045] This invention utilizes a visual monitoring module to capture feature points of each workpiece using machine vision. Based on the positional distribution of these feature points, it plans the subsequent adjustment route for the visual inspection equipment. Combining the visually captured feature point values along the adjustment route, it determines the corresponding workpiece position distribution, identifies different stacking types of different workpieces, and automatically corrects the adsorption position of the adsorption robotic arm 30 during the identification process. In conjunction with the mechanical control module, after completing the top workpiece positioning, it controls the adsorption robotic arm 30 to adsorb the top workpiece, improving adsorption efficiency and automatically achieving adsorption correction.
[0046] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.
Claims
1. A machine vision-guided embodied intelligent flexible control system, characterized in that: It includes a vision control module, a position adjustment module, a detection status response module, and a mechanical control module; The vision control module is equipped with multiple laser detection instruments (210) for capturing workpiece feature points, and collects the angle and distance of the current workpiece feature points; The position adjustment module controls the position change trajectory of each of the laser detection instruments (210) through the control terminal, and the laser detection instruments (210) capture feature points of workpieces in different areas according to the position change trajectory; The detection status response module combines the collected angles and distances of the workpiece feature points to obtain the position status of the detected workpiece. The mechanical control module is equipped with an adsorption robotic arm (30) for adsorbing workpieces. The mechanical control module responds to the current position state of the monitored workpiece and determines whether it is on the adsorption surface. When the monitored workpiece is in the adsorption surface, the adsorption robot arm (30) is controlled to adsorb the monitored workpiece. Conversely, when the position of the workpiece being tested is not on the adsorption surface, the position of each laser detection instrument (210) continues to be adjusted according to the position change trajectory until the workpiece is located on the adsorption surface.
2. The machine vision-guided embodied intelligent flexible control system according to claim 1, characterized in that: The control terminal includes an adjustment platform (10) and a turntable (20) rotatably disposed on one side of the adjustment platform (10). Each of the laser detection instruments (210) is disposed on the side of the turntable (20). A rotating component is connected between the laser detection instrument (210) and the adjustment platform (10). A displacement component is disposed on the other side of the adjustment platform (10). The displacement component controls the entire adjustment platform (10) to move along the top of the workpiece area.
3. The machine vision-guided embodied intelligent flexible control system according to claim 1, characterized in that: The position change trajectory of each laser detection instrument (210) in the position adjustment module passes through each feature point on the workpiece.
4. The machine vision-guided embodied intelligent flexible control system according to claim 1, characterized in that: The method by which the position adjustment module controls the position change trajectory of each laser detection instrument (210) through the control terminal includes the following steps: S1. Set the unit displacement of the laser detection instrument (210); S2. The entire adjustment table (10) is controlled by the displacement component to move along the top of the workpiece area until a laser detection instrument (210) captures the feature point on the workpiece. S3. Use the rotating component to drive the laser detection instrument (210) to adjust its position along the changing trajectory, and adjust the unit displacement each time along the changing trajectory to capture the remaining feature points on the workpiece.
5. The machine vision-guided embodied intelligent flexible control system according to claim 1, characterized in that: The position status of the workpiece in the detection status response module includes normal stacking and abnormal stacking: Among them, the workpieces stacked normally have parallel end faces and no protrusions; Abnormal stacking includes rotated stacking and staggered stacking; Rotational stacking means that all stacked workpieces are within the same trajectory of change. Interleaved stacking means that the workpieces stacked on top of each other are not within the same trajectory of change.
6. The machine vision-guided embodied intelligent flexible control system according to claim 5, characterized in that: The method for obtaining the position state of the detected workpiece in the detection state response module includes the following steps: S10. Obtain the distance between each feature point on the workpiece and mark it as the constant spacing between feature points; S20. Adjust the position of the laser detection instrument (210) according to the changing trajectory. The laser detection instrument (210) detects the feature point once every unit displacement. S30. Mark the first captured feature point as the initial feature point, and mark the workpiece corresponding to the initial feature point as the workpiece to be adsorbed. Mark the second captured feature point as the adjacent feature point. S40. Obtain the distance between adjacent feature points and the initial feature point, and compare it with the constant distance between feature points; When the distance between the detected adjacent feature point and the initial feature point is less than the constant distance between feature points, it indicates that the two workpieces are stacked in a rotating manner. The straight-line distance between the adjacent feature point and the laser detection instrument (210) and the straight-line distance between the initial feature point and the laser detection instrument (210) are obtained and judged. When the straight-line distance between the adjacent feature point and the laser detection instrument (210) is greater than the straight-line distance between the initial feature point and the laser detection instrument (210), it indicates that the workpiece corresponding to the initial feature point is at the top of the workpiece corresponding to the adjacent feature point. The position of the laser detection instrument (210) is adjusted according to the change trajectory until the remaining feature points on the workpiece corresponding to the initial feature point are captured. During the capture process, the straight-line distance between all adjacent feature points is greater than the straight-line distance between the initial feature point and the laser detection instrument (210), indicating that the workpiece corresponding to the current initial feature point is at the top. When the straight-line distance between an adjacent feature point and the laser detection instrument (210) is less than the straight-line distance between the initial feature point and the laser detection instrument (210), the workpiece corresponding to the adjacent feature point is updated as the workpiece to be adsorbed, the adjacent feature point is marked as the initial feature point, and the above steps are repeated until the remaining feature points on the workpiece corresponding to the initial feature point are captured, and the straight-line distance between all adjacent feature points during the capture process is greater than the straight-line distance between the initial feature point and the laser detection instrument (210), it indicates that the workpiece corresponding to the current initial feature point is at the top. During the detection process, if the distance between adjacent feature points on the workpiece to be adsorbed is constant and the straight-line distance between each adjacent feature point is the same, but the laser detection instrument (210) fails to capture the remaining feature points on the workpiece to be adsorbed under a specific trajectory, it indicates that the current workpiece to be adsorbed is in a state of staggered stacking. The position is adjusted again by driving the adjustment stage (10) through the displacement component, and new feature points are captured again. The above steps are repeated until the distance between all adjacent feature points on the workpiece to be adsorbed in the new round is constant and the straight-line distance is the shortest among the workpieces that have been detected. This indicates that the current workpiece to be adsorbed is at the top of the workpiece stacking area and is the workpiece object to be adsorbed.
7. The machine vision-guided embodied intelligent flexible control system according to claim 6, characterized in that: The method for obtaining the straight-line distance between the feature point and the laser detection instrument (210) in S40 includes the following steps: S401, The straight-line distance between the feature point and the laser detection instrument (210) is marked as d. Where d is the straight-line distance between the laser detection instrument (210) and the feature point on the workpiece, and v0 is the speed of light; S402. Calculate the straight-line distance between adjacent feature points and the laser detection instrument (210) and the initial feature point and the laser detection instrument (210) respectively, and make a judgment: If the straight-line distance between adjacent feature points and the laser detection instrument (210) and the straight-line distance between the initial feature point and the laser detection instrument (210) are the same, it indicates that the adjacent feature points and the initial feature point are on the same workpiece. If the straight-line distance between the adjacent feature point and the laser detection instrument (210) is greater than the straight-line distance between the initial feature point and the laser detection instrument (210), then the workpiece corresponding to the adjacent feature point is at the bottom of the workpiece corresponding to the initial feature point. If the straight-line distance between the adjacent feature point and the laser detection instrument (210) is less than the straight-line distance between the initial feature point and the laser detection instrument (210), then the workpiece corresponding to the adjacent feature point is at the top of the workpiece corresponding to the initial feature point.
8. The machine vision-guided embodied intelligent flexible control system according to claim 2, characterized in that: The method for controlling the adsorption robotic arm (30) to adsorb the workpiece to be tested in the mechanical control module includes the following steps: S100. Obtain the thickness of the workpiece and mark it as unit thickness; S200, Change the adsorption route by measuring the straight distance, and adjust the position of the adjustment stage (10) by the displacement component to adjust it to the top of the workpiece adsorption area; S300. Obtain the difference in straight-line distance between the feature points of the two workpieces before and after adjustment = d2-d1, and make a judgment. When the difference in the straight-line distance between the feature points of the two workpieces before and after adjustment is exactly the unit thickness, it indicates that the two workpieces are stacked on each other. Record the adsorption route from the bottom workpiece to the top workpiece adsorption area. After the adsorption work of the current top workpiece is completed, the reverse adsorption route of the current adsorption route is used to adjust the position of the adjustment table (10). When the linear distance between the features of the workpiece before and after adjustment = d2-d1 is an integer multiple of the unit thickness, after the adsorption work of the integer number of workpieces is completed in sequence, the adsorption route is adjusted to the initial adsorption position of the top workpiece, and the position of the adjustment table (10) is adjusted according to the reverse adsorption route of the current adsorption route.