Cell gripping system, control method therefor, and production line module

A control method for a cell gripping system, wherein the cell gripping system comprises a robot, a stand camera, and a gripper camera, the robot comprises a cell gripping apparatus, the gripper camera is located on the cell gripping apparatus, and the method comprises:

• sending, by the robot, a first photographing request to the stand camera;
• obtaining, by the stand camera in response to the first photographing request, first image data containing to-be-gripped cells, determining, based on the first image data, a gripping position for a target column of cells among the to-be-gripped cells and a photographing position for the target column of cells, and sending the gripping position and the photographing position to the robot;
• moving, by the robot, to the photographing position and sending a second photographing request to the gripper camera;
• obtaining, by the gripper camera, second image data in response to the second photographing request, determining, based on the second image data, arrangement parameters for the target column of cells, and sending the arrangement parameters to the robot;
• and
• moving, by the robot, to the gripping position, adjusting a gripping angle based on the arrangement parameters, and controlling a cell gripping apparatus to firmly clamp the target column of cells, to complete gripping.