Automatic identifying and grabbing device and method based on ultrasonic waves

Abstract

The invention discloses an automatic recognition grabbing device and method based on ultrasonic waves, and belongs to the technical field of grabbing devices.The automatic recognition grabbing device based on the ultrasonic waves comprises a rack; the first driving unit is arranged on the rack; the gripper unit is in transmission connection with the first driving unit, the first driving unit drives the gripper unit to move in the direction close to or away from a target area, and the gripper unit is used for gripping an object in the target area; and the ultrasonic unit can move synchronously with the gripper unit, the ultrasonic unit emits ultrasonic waves to the target area and receives echoes, and the to-be-gripped area where an object is located in the target area and the distance between the object and the gripper unit are determined through echo data.

Description

Technical Field

[0001] The present invention relates to the technical field of identification and grasping devices, in particular to an automatic identification and grasping device and method based on ultrasonic waves. Background Art

[0002] In the field of object detection technology, machine vision, radiation, electromagnetic detection and acoustic methods are the most widely used technologies at this stage. Target detection algorithms represented by YOLO are particularly popular in the current development of computer vision. They have the characteristics of high target recognition accuracy and fast response speed, but this method is limited to the surface detection of objects and cannot obtain the internal situation of objects. For the detection of the internal part of the target, the application of radiation and electromagnetic detection technology in medicine has become mature. X-rays, CT and nuclear magnetic resonance are representatives of these technologies. However, the cost of these two types of internal detection is often high and difficult to apply in the industrial field. Unlike the above detection methods, the acoustic method has the ability to detect both the surface of the object and the internal part of the object. Because of the physical propagation characteristics of sound waves, it also contains information such as object distance, coordinates and harmonic spectrum, which greatly improves the richness of detection information. More importantly, this method is low-cost and easy to operate, and can be widely used in industry.

[0003] For some vulnerable objects in industrial activities, they may be in some invisible water environment with polluted water for a long time during work, and the objects need to be inspected or replaced regularly. At this time, machine vision detection methods are no longer used, and radiation and electromagnetic detection are almost impossible to carry out. When the environmental water is corrosive, manual operation is even more impossible. Therefore, for such working conditions, a device is needed that can locate objects in invisible environments, derive coordinate information, and then have the ability to grasp objects at that position. Since such working conditions occur less frequently and are relatively special in industrial production, there is no specific set of automated equipment. The general operation method is to manually locate the target device using an acoustic probe or other device, and then manually or semi-manually clamp it according to the located coordinates. This is not only inefficient, but also very dangerous. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] In view of the above problems and / or the problems existing in the prior art, the present invention is proposed.

[0006] Therefore, the first object of the present invention is to provide an automatic recognition and grasping device based on ultrasound.

[0007] To solve the above technical problems, the present invention provides the following technical solutions: an automatic identification and grasping device based on ultrasound, comprising: a frame; a first drive unit, which is arranged on the frame; a gripper unit, which is transmission-connected to the first drive unit, the first drive unit drives the gripper unit to move toward or away from a target area, and the gripper unit is used to grasp objects in the target area; an ultrasonic unit, which can move synchronously with the gripper unit, the ultrasonic unit transmits ultrasonic waves to the target area and receives echoes, and determines the area to be grasped where the object in the target area is located and the distance between the object and the gripper unit through the echo data.

[0008] As a preferred solution of the ultrasonic automatic identification and grasping device of the present invention, the first driving unit moves along the X-axis and Y-axis directions of the frame.

[0009] As a preferred solution of the ultrasonic-based automatic identification and grasping device of the present invention, the gripper unit includes: a second drive unit, which is transmission-connected to the first drive unit; a connecting seat, which is fixedly connected to the output shaft of the second drive unit; a claw hook, which is rotatably connected to the output end of the second drive unit; a connecting member, one end of which is rotatably connected to the connecting seat and the other end of which is rotatably connected to the claw hook; when the output shaft of the second drive unit does work, the connecting member rotates.

[0010] As a preferred solution of the ultrasonic-based automatic identification and grasping device of the present invention, there are multiple claw hooks, and the multiple claw hooks are evenly arranged in the circumferential direction of the connecting seat; when the output shaft of the second driving unit works in the direction approaching the target area, the second driving unit drives the multiple claw hooks to retract each other.

[0011] As a preferred solution of the ultrasonic-based automatic identification and grasping device of the present invention, a holding space is formed between the plurality of claw hooks, the ultrasonic unit is located in the holding space, and when the claw hooks are opened, the ultrasonic waves emitted and the echoes received by the ultrasonic unit do not interfere with the claw hooks.

[0012] The second object of the present invention is to provide an automatic recognition and grasping method based on ultrasound.

[0013] To solve the above technical problems, the present invention provides the following technical solutions: an automatic recognition and grasping method based on ultrasound, which establishes a two-dimensional coordinate system with the projection of the target area on the horizontal plane; the ultrasonic unit transmits ultrasound to the target area and receives echoes; a grayscale image is generated by the amplitude of the echo and the two-dimensional coordinates of the grayscale block are read, and the grayscale of the grayscale block is positively correlated with the amplitude of the echo; the distance between the object in the target area and the ultrasonic unit is calculated by the time information of the echo; the three-dimensional coordinates of the object are determined, the gripper unit is adjusted to the area to be grasped and the object is grasped.

[0014] As a preferred solution of the ultrasonic automatic recognition and grasping method of the present invention, the relationship between the input distance and the number of pulses of the driving device driving the ultrasonic unit to move along the X-axis, the Y-axis and the Z-axis is expressed as:

[0015]

[0016] Among them, the number of pulses is p, the input distance data is m, the number of subdivisions is n, and the lead is l.

[0017] As a preferred solution of the ultrasonic automatic recognition and grasping method of the present invention, the ultrasonic unit moves to the first inflection point along the initial direction, wherein the initial direction is parallel to the X-axis or parallel to the Y-axis; moves to the second inflection point along the direction perpendicular to the initial direction; moves to the third inflection point along the direction opposite to the initial direction; moves to the fourth inflection point along the direction perpendicular to the initial direction; and repeats the above steps.

[0018] As a preferred solution of the ultrasonic-based automatic recognition and grasping method of the present invention, a plurality of grayscale blocks are evenly laid out in a two-dimensional coordinate system, wherein the side length of the grayscale block is equal to the distance between a group of adjacent trajectories moving along an initial direction and a trajectories moving in a direction opposite to the initial direction.

[0019] As a preferred solution of the ultrasonic automatic recognition and grasping method of the present invention, when the number of objects in the target area is unique, the three-dimensional coordinates of the grayscale block with the highest grayscale value are read, and the object is grasped according to the three-dimensional coordinates.

[0020] As a preferred solution of the ultrasonic-based automatic recognition and grasping method of the present invention, when there are multiple objects in the target area, the distance between each group of adjacent trajectories moving along the initial direction and the trajectories moving in the direction opposite to the initial direction is shortened, the number of reciprocating motions of the ultrasonic unit along the X-axis direction or the Y-axis direction is increased, the coordinates of multiple objects and the volume of each object are read through grayscale blocks, and the selected objects are grasped.

[0021] The beneficial effects of the present invention are as follows: the present invention locates objects in an invisible environment through an ultrasonic unit and derives coordinate information, and can automatically grasp objects in an invisible environment in combination with a gripper unit, and adaptively adjusts the motion trajectory of the gripper unit according to the number of objects to be grasped. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0023] Figure 1 This is a structural diagram of an automatic recognition and grasping device based on ultrasound.

[0024] Figure 2 This is a frame structure diagram of the ultrasonic-based automatic recognition and grasping device.

[0025] Figure 3 It is the X-axis, Y-axis and X-axis track structure diagram of the automatic recognition and grasping device based on ultrasonic wave.

[0026] Figure 4 This is the X-axis track structure diagram of the ultrasonic-based automatic recognition and grasping device.

[0027] Figure 5 This is a structural diagram of the grasping unit of the ultrasonic-based automatic recognition grasping device.

[0028] Figure 6 This is a structural diagram of the grasping unit of the ultrasonic-based automatic recognition grasping device in the initial state.

[0029] Figure 7 This is the first motion trajectory diagram of the gripper unit based on the ultrasonic automatic recognition and grasping method.

[0030] Figure 8 The first grayscale image generated for the ultrasonic-based automatic recognition grasping method.

[0031] Fig. 9 This is the second motion trajectory diagram of the gripper unit based on the ultrasonic automatic recognition and grasping method.

[0032] Fig.10 The second grayscale image generated for the ultrasonic-based automatic recognition grasping method.

[0033] Fig.11 This is the third motion trajectory diagram of the gripper unit based on the ultrasonic automatic recognition and grasping method.

[0034] Fig.12 The third grayscale image generated for the ultrasonic-based automatic recognition grasping method.

[0035] Fig.13 This is the fourth motion trajectory diagram of the gripper unit based on the ultrasonic automatic recognition and grasping method. DETAILED DESCRIPTION

[0036] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0037] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0038] Secondly, the present invention is described in detail with reference to schematic diagrams. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0039] Furthermore, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0040] Example 1

[0041] Reference Figure 1 , which is the first embodiment of the present invention, provides an automatic identification and grasping device based on ultrasound, including a frame 100, a first driving unit 200 and an ultrasonic unit 300.

[0042] Specifically, the first driving unit 200 is disposed on the frame 100 , and the first driving unit 200 can move along the X-axis and Y-axis directions of the frame 100 .

[0043] Preferably, the gripper unit 300 is transmission-connected to the first drive unit 200, and the first drive unit 200 can drive the gripper unit 300 to move synchronously along the X-axis and Y-axis directions of the frame 100. At the same time, the first drive unit 200 can drive the gripper unit 300 to move toward or away from the target area M. In addition, the gripper unit 300 is used to grasp objects in the target area M.

[0044] It is worth noting that the target area M of this embodiment is an invisible environment, such as a dark environment, an invisible water environment full of sewage, etc. The target area M of the present invention is an invisible water environment full of sewage.

[0045] Furthermore, the ultrasonic unit 400 can move synchronously with the gripper unit 300. When the gripper unit 300 moves along the X-axis and Y-axis directions of the frame 100 along with the first drive unit 200, the ultrasonic unit 400 continuously transmits ultrasonic waves to the target area M and receives echoes until the ultrasonic waves emitted by the ultrasonic unit 400 cover the entire target area M. The area to be grasped N where the object in the target area M is located and the distance between the object and the gripper unit 300 are determined through the echo data. Then, the first drive unit 200 drives the gripper unit 300 to move along the Z-axis direction, and finally the gripper unit 300 grasps the object again.

[0046] Example 2

[0047] See also Figure 1 to Figure 6 , which is the second embodiment of the present invention, is basically the same as embodiment 1, except that.

[0048] Specifically, the frame 100 includes a Y-axis rail 101, a first slide 102 arranged on the Y-axis rail 101, and a third driving unit 106 capable of driving the first slide 102 to move along the Y-axis direction; an X-axis rail 103 arranged on the first slide 102, a second slide 104 arranged on the X-axis rail 103, and a fourth driving unit 107 capable of driving the second slide 104 to move along the X-axis direction; a Z-axis rail 105 arranged on the second slide 104, a first driving unit 200 arranged on the Z-axis rail 105, a gripper unit 300 arranged on the Z-axis rail 105, and the first driving unit 200 capable of driving the gripper unit 300 to move along the Z-axis direction; driven by the third driving unit 106 and the fourth driving unit 107, the first driving unit 200 and the Z-axis rail 105 can move along the X-axis and Y-axis directions.

[0049] Among them, the Y-axis track 101, the X-axis track 103 and the Z-axis track 105 are all 1610 lead screws, the first drive unit 200, the third drive unit 106 and the fourth drive unit 107 are all stepper motors with the same model, all of which are 57 stepper motors.

[0050] The relationship between the input distance and the number of pulses of the driving device for driving the ultrasonic unit 400 to move along the X-axis, the Y-axis and the Z-axis is expressed as:

[0051]

[0052] Among them, the number of pulses is p, the input distance data is m, the number of subdivisions is n, and the lead is l.

[0053] In this embodiment, the first drive unit 200, the third drive unit 106, and the fourth drive unit 107 are all 57 stepper motors, and the Y-axis track 101, the X-axis track 103, and the Z-axis track 105 are all 1610 lead screws. Therefore, when the position pulse mapping algorithm is applied to control the stepper motor, the mapped pulse number p is related to the stepper controller subdivision number n1, the stepper motor subdivision number n2, the input distance m, and the lead l. The subdivision number of the stepper controller and the stepper motor must be consistent, that is, n1=n2=n (subdivision number: the number of pulses required for the stepper motor to rotate one circle), the motor subdivision number selected by this device is set to 3200, and the motion axis lead l used is 10mm (lead: the distance the slide moves forward in the positive direction of the axis when the motion axis rotates one circle), so the pulse number p, distance m, subdivision number n, and lead l have the following relationship: p=m*n / l=m*3200 / 10=320m;

[0054] That is, when the lead screw rotates one circle, the first slide 102, the second slide 104 and the gripper unit 300 advance 10 mm in the positive direction of the axis, which corresponds to 3200 pulses. If other distances need to be input in the upper computer, the input distance must first be converted into a numerical type, and then the numerical value is multiplied by 320 to obtain the corresponding number of pulses. The pulse control motion interface encapsulated by the lower computer can then be called to complete the position movement.

[0055] Preferably, the gripper unit 300 includes a second drive unit 301 transmission-connected to the first drive unit 200, a connecting seat 302 fixedly connected to the output shaft of the second drive unit 301, a claw hook 303 rotationally connected to the output end of the second drive unit 301, and a connecting member 304 rotationally connected to the connecting seat 302 at one end and rotationally connected to the claw hook 303 at the other end; when the output shaft of the second drive unit 301 does work, the connecting member 304 rotates.

[0056] Preferably, there are multiple claw hooks 303. In this embodiment, there are three claw hooks 303, and the three claw hooks 303 are evenly arranged in the circumferential direction of the connecting seat 302; when the output shaft of the second driving unit 301 works in the direction approaching the target area M, the second driving unit 301 drives the multiple claw hooks 303 to retract together.

[0057] Furthermore, an accommodating space M is formed between the three claw hooks 303 , the ultrasonic unit 400 is located in the accommodating space M, and the ultrasonic unit 400 is located on the center line of the output axis of the second driving unit 301 . When the claw hook 303 is opened, the ultrasonic wave emitted and the echo received by the ultrasonic unit 400 do not interfere with the claw hook 303 .

[0058] The second driving unit of this embodiment is preferably a 42 stepper motor. The control of the grasping action of the gripper unit 300 is similar. After the mapping of the pulse number of the 42 stepper motor and the telescopic rod stroke is completed, the opening and closing of the claw hook 303 can be completed by performing the forward and reverse pulse operation of the 42 motor.

[0059] Example 3

[0060] See also Figures 1 to 8 , Fig.11 and Fig.12 , which is the third embodiment of the present invention, and this embodiment is based on embodiment 1 and embodiment 2. This embodiment provides an automatic recognition and grasping method based on ultrasonic waves.

[0061] S100: establishing a two-dimensional coordinate system based on the projection of the target area M on the horizontal plane;

[0062] S200: The ultrasonic unit 400 transmits ultrasonic waves to the target area M and receives echoes;

[0063] S201: The ultrasonic unit 400 moves to a first inflection point along an initial direction, wherein the initial direction is parallel to the X-axis or the Y-axis; moves to a second inflection point along a direction perpendicular to the initial direction; moves to a third inflection point along a direction opposite to the initial direction; moves to a fourth inflection point along a direction perpendicular to the initial direction; and repeats the above steps;

[0064] S300: Generate a grayscale image according to the amplitude of the echo and read the two-dimensional coordinates of the grayscale block, where the grayscale of the grayscale block is positively correlated with the amplitude of the echo;

[0065] S301: evenly paving a plurality of grayscale blocks in a two-dimensional coordinate system, wherein the side length of the grayscale blocks is equal to the distance between a group of adjacent trajectories moving along an initial direction and a trajectories moving in a direction opposite to the initial direction;

[0066] S400: Calculating the distance between the object in the target area M and the ultrasonic unit 400 according to the time information of the echo;

[0067] S500: Determine the three-dimensional coordinates of the object, adjust the gripper unit 300 to the to-be-grasped area N and grasp the object;

[0068] S501: when the number of objects in the target area M is unique, read the three-dimensional coordinates of the grayscale block with the highest grayscale value, and grab the object according to the three-dimensional coordinates;

[0069] S502: When there are multiple objects in the target area M, the distance between each group of adjacent trajectories moving in the initial direction and the trajectories moving in the direction opposite to the initial direction is shortened, and the number of reciprocating movements of the ultrasonic unit 400 along the X-axis direction or the Y-axis direction is increased, in order to reduce the area of ​​a single grayscale block; when there are multiple objects in the target area M, especially when multiple objects are relatively close, if large grayscale blocks are still used, multiple large grayscale blocks may interfere with each other during grayscale imaging. Compared with large grayscale blocks, smaller grayscale blocks further subdivide the target area M. The combination of smaller grayscale blocks can not only more accurately determine the coordinates of the object but also determine the volume of the object, and at the same time can reduce the interference between the grayscale blocks, that is, the coordinates of multiple objects and the volume of each object are read through the grayscale blocks, and the selected object is captured.

[0070] Example 4

[0071] See also Fig. 9 and Fig.10 , which is the fourth embodiment of the present invention, and this embodiment is basically the same as the embodiment 3, except that S201: the ultrasonic unit 400 moves downward along the initial direction parallel to the Y axis to the first inflection point; then moves rightward along the direction perpendicular to the initial direction to the second inflection point; moves upward along the direction opposite to the initial direction to the third inflection point; then moves rightward along the direction perpendicular to the initial direction to the fourth inflection point; repeat the above steps.

[0072] Example 5

[0073] See also Fig.13 , which is the fifth embodiment of the present invention, and this embodiment is basically the same as the embodiment 3, except that S201: the ultrasonic unit 400 moves rightward along the initial direction parallel to the X-axis to the first inflection point; then moves upward along the direction perpendicular to the initial direction to the second inflection point; then moves leftward along the direction opposite to the initial direction to the third inflection point, wherein the distance moved to the left along the direction opposite to the initial direction is greater than the distance moved to the right in the initial direction parallel to the X-axis; then moves downward along the direction perpendicular to the initial direction to the fourth inflection point; and repeats the above steps.

[0074] Based on the above, the beneficial effects of the present invention are:

[0075] The present invention locates objects in an invisible environment through an ultrasonic unit and derives coordinate information, and can realize automatic grasping of objects in an invisible environment in combination with a gripper unit.

[0076] In addition, the present invention adaptively adjusts the motion trajectory of the gripper unit according to the number of objects to be grasped. When the number of objects in the target area M is unique, the deepest grayscale is directly grasped; when the number of objects in the target area M is multiple, the number of reciprocating motions of the ultrasonic unit 400 along the X-axis direction or the Y-axis direction is increased, the coordinates of multiple objects and the volume of each object are read through the grayscale block, and the selected object is grasped.

[0077] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangement, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to numerous modifications still falling within the scope of the appended claims.

[0078] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0079] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0080] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An automatic recognition and grasping device based on ultrasonic wave, characterized in that: include: Rack(100); A first driving unit (200), which is arranged on the frame (100); a gripper unit (300) which is in transmission connection with the first driving unit (200), the first driving unit (200) driving the gripper unit (300) to move in a direction approaching or moving away from a target area (M), the gripper unit (300) being used to grip an object in the target area (M); An ultrasonic unit (400) is capable of moving synchronously with the gripper unit (300), wherein the ultrasonic unit (400) transmits ultrasonic waves to the target area (M) and receives echoes, and determines the area to be grasped (N) where the object in the target area (M) is located and the distance between the object and the gripper unit (300) through the echo data.

2. The ultrasonic automatic recognition and grasping device according to claim 1, characterized in that: The first driving unit (200) moves along the X-axis and Y-axis directions of the frame (100).

3. The ultrasonic automatic recognition and grasping device according to claim 1 or 2, characterized in that: The gripper unit (300) comprises: A second driving unit (301) which is drivingly connected to the first driving unit (200); A connecting seat (302) fixedly connected to the output shaft of the second driving unit (301); A claw hook (303) which is rotatably connected to an output end of the second driving unit (301); A connecting member (304) has one end rotatably connected to the connecting seat (302) and the other end rotatably connected to the claw hook (303); when the output shaft of the second driving unit (301) performs work, the connecting member (304) rotates.

4. The ultrasonic automatic recognition and grasping device according to claim 3, characterized in that: The claw hooks (303) are provided in plurality, and the plurality of claw hooks (303) are evenly arranged in the circumferential direction around the connecting seat (302); when the output shaft of the second driving unit (301) performs work in a direction approaching the target area (M), the second driving unit (301) drives the plurality of claw hooks (303) to retract into each other.

5. The ultrasonic automatic recognition and grasping device according to claim 3, characterized in that: A storage space is formed between the plurality of claw hooks (303), and the ultrasonic unit (400) is located in the storage space. When the claw hooks (303) are opened, the ultrasonic waves emitted by the ultrasonic unit (400) and the echoes received do not interfere with the claw hooks (303).

6. An automatic recognition and grasping method based on ultrasonic wave, characterized in that: include: A two-dimensional coordinate system is established based on the projection of the target area (M) on the horizontal plane; The ultrasonic unit (400) transmits ultrasonic waves to the target area (M) and receives echoes; Generate a grayscale image through the amplitude of the echo and read the two-dimensional coordinates of the grayscale block. The grayscale of the grayscale block is positively correlated with the amplitude of the echo. Calculating the distance between the object in the target area (M) and the ultrasonic unit (400) by using the time information of the echo; The three-dimensional coordinates of the object are determined, the gripper unit (300) is adjusted to the area to be gripped (N) and the object is gripped.

7. The ultrasonic automatic recognition and grasping method according to claim 6, characterized in that: The relationship between the input distance and the number of pulses of the driving device for driving the ultrasonic unit (400) to move along the X-axis, the Y-axis and the Z-axis is expressed as: Among them, the number of pulses is p, the input distance data is m, the number of subdivisions is n, and the lead is l.

8. The ultrasonic automatic recognition and grasping method according to claim 6 or 7, characterized in that: The ultrasonic unit (400) moves to a first inflection point along an initial direction, wherein the initial direction is parallel to the X-axis or parallel to the Y-axis; Move to the second inflection point in a direction perpendicular to the initial direction; Move in the direction opposite to the initial direction to the third inflection point; Move to the fourth inflection point in a direction perpendicular to the initial direction; Repeat the above steps.

9. The ultrasonic automatic recognition and grasping method according to claim 8, characterized in that: A plurality of grayscale blocks are evenly laid out in a two-dimensional coordinate system, wherein the side length of the grayscale block is equal to the distance between a group of adjacent trajectories moving along an initial direction and a trajectories moving in a direction opposite to the initial direction.

10. The ultrasonic automatic recognition and grasping method according to claim 9, characterized in that: When the number of objects in the target area (M) is unique, the three-dimensional coordinates of the grayscale block with the highest grayscale value are read, and the object is captured according to the three-dimensional coordinates.

11. The ultrasonic automatic recognition and grasping method according to claim 9 or 10, characterized in that: When there are multiple objects in the target area (M), the distance between each group of adjacent trajectories moving in an initial direction and trajectories moving in a direction opposite to the initial direction is shortened, the number of reciprocating movements of the ultrasonic unit (400) along the X-axis direction or the Y-axis direction is increased, the coordinates of the multiple objects and the volume of each object are read through the grayscale block, and the selected object is captured.

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