Artificial grinding of large castings has a large workload, harsh environment, boring content, difficulty in recruiting labour, and the quality of artificial grinding is affected by the skill and sense of responsibility of grinding workers, and the consistency needs to be supervised. The consistency of the parts to be polished is not good, and it is not possible to realise the positioning by the standard tools. The size of some workpieces is very large, and it is difficult for the field of view of conventional vision products to cover them all at once, and the vibration during the grinding process is large, which is a great test of the structural stability of the vision camera. The customer uses the 3D vision system to guide the robot to polish, which effectively replaces manual labour and improves labour efficiency and production consistency.