State planning method of matrix suckers based on various complex sheet metal parts

The invention relates to the field of state planning of matrix suckers, in particular to a state planning method of a matrix sucker based on various complex sheet metal parts. The state planning method comprises the following specific steps that S1, preconditions are provided; S2, an image is obtained by a camera; S3, the size range of a screw rod is calculated; S4, the positions of all the singlesuckers are calculated; S5, the possible range thetas of the rotation angle between the matrix suckers and the workpiece is selected; S6, some points are selected from the matrix suckers as key points, and the points can be used for judging the position relation between the whole suckers and a certain outline; S7, key point positions of the matrix suckers are calculated; S8, the key points are judged; S9, the list1 is emptied; S10, whether traversal of the thetas is completed or not is judged; S11, whether the size of the lead screw is traversed or not is judged; S12, the suckers corresponding to the longest list in