Robotic grippers, robots and control methods

Abstract

This invention provides a robot gripper, a robot, and a control method, including a base connected to a robot body; a gripping mechanism disposed at one end of the base away from the robot body, suitable for a target bottle, comprising: two grippers movably disposed on the base, forming a gripping area between the two grippers, and the two grippers being movable toward or away from each other; the grippers include a first gripping arm and a second gripping arm, suitable for making line contact with the target bottle, wherein the first gripping arm is configured to have a longer contact line with the target bottle than the second gripping arm.

Description

Technical Field

[0001] This invention relates to the field of machine gripping technology, and in particular to a robot gripper, a robot, and a control method. Background Technology

[0002] As a core actuator in industrial automation, intelligent manufacturing, and collaborative robots, the research and application of robotic grippers are of great significance for improving production efficiency, reducing labor costs, and promoting industrial upgrading. Robotic grippers can replace manual labor for 24-hour continuous work, ensuring high repeatability and positioning accuracy, reducing assembly errors, and greatly improving production efficiency. They are widely used in various industries such as pharmaceuticals, chemicals, and food for handling liquid bottles and cans; the handling, opening, and pouring of liquid bottles and cans using robots is a common operation.

[0003] Common robotic grippers used for picking up liquid bottles and cans have a gripper structure with a constant cross-section. While this can be used to pick up cylindrical bottles, it is not stable for irregular bottles and cannot meet the diverse requirements of picking up bottles. Summary of the Invention

[0004] This invention provides a robot gripper, a robot, and a control method to solve the defect of existing medium-section robot grippers being unable to adapt to diverse bottle shapes, resulting in unstable gripping, so that the robot gripper can firmly grip bottles with variable cross-sections.

[0005] This invention provides a robot gripper, comprising: a base connected to a robot body; and a gripping mechanism disposed at one end of the base away from the robot body, suitable for a target bottle, comprising: two grippers movably disposed on the base, forming a gripping area between the two grippers, and the two grippers being movable toward or away from each other; each gripper includes a first gripping arm and a second gripping arm, suitable for making line contact with the target bottle, wherein the first gripping arm is configured to be longer than the contact line between the second gripping arm and the target bottle.

[0006] According to a robot gripper provided by the present invention, the gripping surfaces of the first gripping arm and the second gripping arm coupled to the target bottle are configured such that their projections on a plane perpendicular to the axis of the target bottle are arc-shaped, and the radius of the projection of the gripping surface of the first gripping arm onto the plane is larger than that of the second gripping arm.

[0007] According to a robot gripper provided by the present invention, the target bottle includes a screw-on cap screwed onto the target bottle, and the grippers have an arc-shaped gripping opening on the bottom surface away from the base. The two gripping openings form a gripping area. In response to the opposite movement of the two grippers, the sidewalls of the two gripping openings approach and abut against the cap so that the cap rotates with the base under the drive of the robot body.

[0008] According to a robot gripper provided by the present invention, grooves are also disposed opposite to each other on the opposing wall surfaces of the two grippers.

[0009] According to a robot gripper provided by the present invention, the wall of the gripper extends away from the target bottle and narrows to form a hollow guide portion, wherein the gripper tilts in response to the movement of the robot body so that the object to be removed from the target bottle is discharged through the guide portion.

[0010] According to a robot gripper provided by the present invention, a hook device is further configured, comprising: a first hook arm disposed on the gripper, the gripper being defined as the first gripper, including a first extension arm extending outward from the first gripper, and a hook extending back from the end of the first extension arm toward the first gripper, wherein the hook forms a recess with the sidewall of the first extension arm; and a second hook arm extending outward on a second gripper opposite to the first gripper, wherein the end of the second hook arm is adapted to abut against the end of the hook of the first hook arm.

[0011] According to a robot gripper provided by the present invention, the gripper is further provided with a conical bottle opener that extends outward along the gripper and narrows to a sharp end.

[0012] The present invention also provides a robot, comprising: a robot gripper as described in any of the preceding claims; a robot body connected to the base, adapted to translate the gripper and to roll, pitch and deflect the gripper.

[0013] According to the present invention, a robot further includes an image acquisition device adapted to acquire a target image including a target bottle; wherein the robot adjusts the angle of the gripper according to the target image so that the gripper grips the target bottle.

[0014] The present invention also provides a robot control method, comprising: determining edge information of the target bottle based on the target image, and determining angle information between the central axis of the gripping area and the central axis of the target bottle based on the edge information of the target bottle; rotating the gripping mechanism according to the angle information of the central axis of the gripping area and the central axis of the target bottle, so that the central axis of the gripping area is approximately coincident with the central axis of the target bottle; and controlling the two grippers to move towards each other to grip the target bottle when the central axis of the gripping area is approximately coincident with the central axis of the target bottle.

[0015] The robot gripper, robot, and control method provided by this invention use the relative movement of the grippers to make the two sides of the target bottle abut against each other to complete the gripping of the target bottle. Since the contact lines of the first and second grippers with the target bottle are of different lengths, they can better fit the bottle body which is narrow at the top and wide at the bottom. As a result, the grippers can fit the wall of the target bottle more closely to achieve a more stable grip.

[0016] The robot gripper, robot, and control method provided by the present invention have at least the following beneficial effects:

[0017] (1) By constructing the two gripping arms of the gripper to have different contact line lengths from the target bottle, it is more conducive to fitting the bottle with non-uniform cross section, thereby achieving a more stable grip.

[0018] (2) Components used to perform functions such as gripping, opening, tearing and piercing film can be integrated on the gripper. Driven by the robot body, the above functions can be achieved directly through the translation and rotation of the gripper without replacing components, which can enable the robot to meet various different needs.

[0019] (3) By using edge recognition algorithms to identify the edge of the target bottle to determine the relative position between the robot gripper and the target bottle, and then controlling the robot gripper to grab the target bottle, the robot can grab the target bottle more accurately.

[0020] (4) By using the gripper in conjunction with the robot body, it is also possible to pour out the liquid from the target bottle, seal the liquid, recycle the empty bottle, unscrew or screw back the bottle cap, and directly pick up small items such as bottle caps from the table, which is suitable for different application scenarios. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a front view of a robot gripper according to an illustrative embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of a robot gripper grasping a target bottle according to an illustrative embodiment of the present invention;

[0024] Figure 3 This is a sectional view along section AA of a robot gripper gripping a target bottle, representing an illustrative embodiment of the present invention.

[0025] Figure 4 This is a top view of a robot gripper according to an illustrative embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the gripping opening of a robot gripper abutting against a bottle cap, according to an illustrative embodiment of the present invention.

[0027] Figure 6 This is a right view of a robot gripper according to an illustrative embodiment of the present invention;

[0028] Figure 7 This is a schematic diagram of a hook puller pulling a pull ring on a target bottle, representing an illustrative embodiment of the present invention.

[0029] Figure 8 This is a bottom view of a robot gripper according to an illustrative embodiment of the present invention;

[0030] Figure 9 This is a flowchart illustrating the operation process of an automated beverage bottle processing system according to an embodiment of the present invention;

[0031] Figure 10 This is a flowchart of an algorithm for identifying the edge of a target bottle according to an embodiment of the present invention.

[0032] Figure label:

[0033] 10-Base;

[0034] 11-Flange;

[0035] 12-Bottle opener;

[0036] 20-gripper;

[0037] 21-First clamping arm;

[0038] 22-Second clamping arm;

[0039] 23-Clamping opening;

[0040] 24-groove;

[0041] 25- Conical bottle opener;

[0042] 30-Guiding section;

[0043] 41-First hook arm;

[0044] 42 - Second hook arm;

[0045] 50 - Target bottle;

[0046] 51 - Bottle cap;

[0047] 52-Pull ring. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0049] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0050] All terms used herein, including technical and scientific terms, have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0051] When using expressions such as "at least one of A, B, and C," the meaning should generally be interpreted according to the understanding of someone skilled in the art. For example, "a system having at least one of A, B, and C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C. Similarly, when using expressions such as "at least one of A, B, or C," the meaning should generally be interpreted according to the understanding of someone skilled in the art. For example, "a system having at least one of A, B, or C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C.

[0052] In related technologies, industrial robots mainly use grippers with uniform cross-sections to grasp target bottles. However, since bottles are not always regular in shape and their shapes vary, grippers with uniform cross-sections may become unstable during the grasping process due to the small contact area, causing the bottle to rotate or even fall off the grippers.

[0053] In view of this, the present invention provides a robot gripper, a robot, and a control method.

[0054] Figure 1 This is a front view of a robot gripper according to an illustrative embodiment of the present invention.

[0055] like Figure 1 As shown, the robot gripper provided by the present invention includes a base 10 connected to a robot body. A gripping mechanism is disposed at the end of the base 10 away from the robot body and is suitable for a target bottle. The gripping mechanism includes two grippers 20, movably disposed on the base 10, forming a gripping area between the two grippers 20, which can move towards or away from each other. Each gripper 20 includes a first gripping arm 21 and a second gripping arm 22, suitable for making line contact with the target bottle, wherein the first gripping arm 21 is configured to be longer than the second gripping arm 22 in terms of the contact line with the target bottle.

[0056] According to an embodiment of the present invention, the first clamping arm 21 can be configured as an arc, and the projection of the contact surface between the second clamping arm 22 and the target bottle on a plane perpendicular to the axial direction of the target bottle can be approximately a straight line. During clamping, the continuous arc surface of the first clamping arm 21 of the two jaws 20 fits against the target bottle, while the second clamping arm 22 directly abuts against the narrower part of the target bottle to complete the clamping of the target bottle.

[0057] According to an embodiment of the present invention, a layer of flexible material, such as silicone or rubber, is provided on the inner side of the first clamping arm 21 near the target bottle. When the first clamping arm 21 is in contact with the target bottle, this layer of flexible material is compressed to form a longer contact line. At the same time, this layer of flexible material can also increase the friction on the target bottle.

[0058] According to an embodiment of the present invention, the first clamping arm 21 is configured to be generally arc-shaped, while the second clamping arm 22 is configured to be generally V-shaped. When the first clamping arm 21 is in contact with the target bottle, the V-shaped second clamping arm 22 can clamp the target bottle through the V-shaped wall surface.

[0059] According to an embodiment of the present invention, the first clamping arm 21 and the second clamping arm 22 are movably arranged relative to the gripper 20. The gripper 20 is also provided with a driving mechanism. When the gripper 20 is stationary relative to the base 10, the first clamping arm 21 and the second clamping arm 22 can extend or retract under the drive of the driving mechanism to adjust the contact line length according to the size of the target bottle.

[0060] The robot gripper provided by this invention has two gripping arms with different contact line lengths to the target bottle constructed on the gripper 20. The first gripping arm 21 fits against the wider part of the target bottle, and the second gripping arm 22 fits against the narrower part of the target bottle, making the contact area between the gripper 20 and the target bottle larger. In addition, this asymmetrical arrangement allows one gripping arm to provide a larger area of ​​stable support, while the other gripping arm provides auxiliary clamping, thereby achieving compatibility with bottles of different shapes and thus achieving a more stable clamping effect by matching the shape of the target bottle.

[0061] Figure 2 This is a schematic diagram of a robot gripper grasping a target bottle according to an illustrative embodiment of the present invention; Figure 3 This is a sectional view along section AA of a robot gripper gripping a target bottle, which is an illustrative embodiment of the present invention.

[0062] like Figure 2 and Figure 3 As shown, the gripping surfaces of the first gripping arm 21 and the second gripping arm 22 that are coupled to the target bottle are configured such that their projections on a plane perpendicular to the axis of the target bottle are arc-shaped, and the radius of the projection of the gripping surface of the first gripping arm 21 on the plane is larger than that of the second gripping arm 22.

[0063] According to an embodiment of the present invention, the projections of the first clamping arm 21 and the second clamping arm 22 on a plane perpendicular to the axis of the target bottle are semicircles with different radii. When the two clamping arms come close to each other, the first clamping arm 21 contacts the wider part of the target bottle 50, and the second clamping arm 22 contacts the narrower part of the target bottle 50, so as to achieve gripping of the target bottle.

[0064] According to an embodiment of the present invention, a plurality of protrusions may be provided on the inner sidewall of the second clamping arm 22 near the target bottle, and the clamping force on the target bottle may be increased by the protrusions.

[0065] According to an embodiment of the present invention, the arc of the first clamping arm 21 is larger than the arc of the second clamping arm 22.

[0066] Figure 4 This is a top view of a robot gripper according to an illustrative embodiment of the present invention; Figure 5 This is a schematic diagram of the gripping opening of a robot gripper abutting against a bottle cap, according to an illustrative embodiment of the present invention.

[0067] like Figure 4 and Figure 5As shown, the gripper 20 has an arc-shaped gripping opening 23 on its bottom surface away from the base 10. The two gripping openings 23 form a gripping area. In response to the opposite movement of the two grippers 20, the sidewalls of the two gripping openings 23 approach and abut against the bottle cap 51 so that the bottle cap 51 rotates with the base 10 under the drive of the robot body.

[0068] According to an embodiment of the present invention, when it is necessary to unscrew the cap 51 on the target bottle, the target bottle can be fixed on a certain plane. Driven by the robot body, the bottom of the gripper 20 gradually approaches the cap 51 until the gripping opening 23 coincides with the cap. The two grippers 20 approach each other until the side wall of the gripping opening 23 abuts against the cap 51. Driven by the robot body, the cap 51 rotates with the base 10 until it is detached from the target bottle.

[0069] According to an embodiment of the present invention, a plurality of longitudinal fine teeth can be provided at intervals on the side wall of the clamping opening 23 to engage with the fine teeth on the bottle cap, so as to improve the efficiency of twisting.

[0070] According to an embodiment of the present invention, a ratchet can be provided at the bottom of the gripper 20. When the gripping opening 23 abuts against the bottle cap, the ratchet abuts against the bottle cap, which helps the gripper 20 to clamp the bottle cap, so as to facilitate the screwing of the bottle cap.

[0071] According to an embodiment of the present invention, multiple retaining rings can also be provided at intervals within the clamping opening 23. When the side wall of the clamping opening 23 abuts against the bottle cap, the retaining rings can further clamp the bottle cap to ensure the force exerted when the bottle cap is twisted.

[0072] In one illustrative embodiment, grooves 24 are also disposed opposite to each other on the opposing wall surfaces of the two grippers 20.

[0073] According to an embodiment of the present invention, the groove 24 can be used to grip slender objects such as straws on a target bottle. The width of the groove 24 can be set to approximately the diameter of the straw. When the grippers 20 approach each other, the straw is gripped in the groove 24 of the grippers 20, and then the gripper moves upward to remove the straw from the target bottle. Alternatively, the straw can be gripped into the target bottle by moving and rotating the grippers through the groove 24.

[0074] According to an embodiment of the present invention, the cross-section of the groove 24 can be constructed as a semi-circular arc structure with a diameter of 4 mm.

[0075] Figure 6 This is a right view of a robot gripper according to an illustrative embodiment of the present invention.

[0076] like Figure 6As shown, the wall of the gripper 20 extends away from the target bottle and narrows to form a hollow guide portion 30. The gripper tilts in response to the movement of the robot body so that the object to be removed from the target bottle is discharged through the guide portion 30.

[0077] According to an embodiment of the present invention, when there is liquid in the target bottle, the target bottle can be clamped by one of the gripping arms of the gripper 20, so that the bottle opening faces the gripping area. Then, the movement of the robot body tilts the gripper, so that the liquid in the target bottle flows out through the guide part 30, avoiding splashing of liquid during the discharge process and also facilitating liquid recycling.

[0078] According to an embodiment of the present invention, the neck of the target bottle can also be held by the gripping openings 23 of the two grippers 20, so that the bottle mouth of the target bottle faces the gripping area, and then the movement of the robot body causes the gripper to tilt, so that the waste liquid in the target bottle flows out through the guide part 30.

[0079] Figure 7 This is a schematic diagram of a hook puller pulling a pull ring on a target bottle, representing an illustrative embodiment of the present invention.

[0080] like Figure 4 and Figure 7 As shown, the robot gripper is also equipped with a hook mechanism, including a first hook arm 41 disposed on a gripper, the gripper being defined as the first gripper, including a first extension arm extending outward from the first gripper, and a hook extending back from the end of the first extension arm toward the first gripper, wherein the hook forms a recess with the sidewall of the first extension arm. A second hook arm 42 is disposed on a second gripper opposite to the first gripper, extending outward, wherein the end of the second hook arm 42 is adapted to abut against the end of the hook of the first hook arm 41.

[0081] According to an embodiment of the present invention, when the target bottle 50 is a bottle with a pull ring, such as an aluminum can, the gripper, driven by the robot body, makes the ends of the first hook arm 41 and the second hook arm 42 approximately aligned with the finger holes of the pull ring, and the gripper moves closer to each other until the ends of the hooks of the first hook arm 41 and the ends of the second hook arm 42 abut against each other. Then, driven by the robot body, the gripper pulls the ring frame of the pull ring 52 outward until the pull ring 52 disengages from the target bottle 50.

[0082] Figure 8 This is a bottom view of a robot gripper according to an illustrative embodiment of the present invention.

[0083] like Figure 8 As shown, the gripper 20 of the robot gripper in this embodiment of the invention is also equipped with a conical bottle opener 25 that extends outward along the gripper 20 and narrows to have a sharp end.

[0084] According to an embodiment of the present invention, when the bottle opening of the target bottle has a sealing film, the conical bottle opener 25 can be aligned with the bottle opening of the target bottle by the drive of the robot body, and the end of the conical bottle opener 25 can be moved toward the bottle opening to pierce the sealing film of the bottle opening of the target bottle.

[0085] In one illustrative embodiment, toothed positioning clips are also provided on the opposite end faces of the two grippers 20. When encountering a sealing film that is difficult for the conical bottle opener 25 to penetrate, the grippers 20 can be brought closer together so that the toothed positioning clips can grip the edge of the sealing film and tear it open. In addition, the toothed positioning clips can also be used to grip the top of a milk carton that is only 1-2 mm thick and sealed, so as to drive the milk carton to move.

[0086] In one illustrative embodiment, the robot gripper is also equipped with a bottle lifter 12, which is directly connected to the base 10. The bottle lifter 12 includes a plurality of bottle lifting claws spaced apart. Each bottle lifting claw includes a bottle lifting arm extending outward from the base 10 and a bottle lifting hook hooking back from the end of the bottle lifting arm.

[0087] According to an embodiment of the present invention, when the bottle opening of the target bottle is closed by a crown cap, the bottle lifter 12 can be attached to the bottle opening of the target bottle by the drive of the robot body, and the crown cap can be opened by the bottle lifting hook.

[0088] Embodiments of the present invention also provide a robot, including the robot gripper 20 and the robot body described above. The robot body is connected to the base 10 and is adapted to translate the gripper 20 and to roll, pitch, and yaw the gripper 20.

[0089] In one illustrative embodiment, the robot further includes an image acquisition device adapted to acquire a target image including the target bottle. The robot adjusts the angle of the gripper based on the target image to grip the target bottle.

[0090] The present invention also provides an automated beverage bottle handling system.

[0091] Figure 9 This is a flowchart of the operation process of an automated beverage bottle processing system according to an embodiment of the present invention.

[0092] like Figure 9As shown, the operation flow of the automated beverage bottle handling system is designed to efficiently and accurately process different types of beverages. The system begins with a reset procedure to ensure all components and sensors are in their initial state, ready for subsequent operations. Then, the system automatically classifies, identifies, and processes various types of target bottles: pull-tab cans, bottled beverages with screw-on caps, bottled beverages with crown caps, and beverages with straws. Each type of bottle has its specific processing procedure to suit its unique structure and opening method. For bottled beverages with screw-on caps, the clamp first rotates to lower the gripper arms and move them to the bottle's position. The opening and closing degree of the gripper is adjusted, and the bottle is clamped using the first and second gripper arms 21 and moved onto the table. Then, the image acquisition device is activated to take a picture to obtain the current position and angle of the target bottle. Next, the opening and closing degree of the toothed positioning clamp is controlled to clamp the cap and adjust the bottle's angle to be perpendicular to the horizontal plane, effectively preventing liquid leakage after unscrewing the cap due to bottle tilt. Then, the clamp is opened to release the positioning clamp. After the positioning clamp disengages from the bottle, the clamp is rotated 180 degrees horizontally and 90 degrees vertically, aligning the bottom clamping opening 23 with the cap. The clamp is then moved downwards, and the grippers are adjusted. The opening and closing degree of gripper 20 allows the two side walls of gripping opening 23 to clamp the bottle cap. Then, the robot body drives the gripper to rotate several times around the center of the bottle cap to unscrew it. Then, the gripping opening 23 is moved to align with the table, and the grippers 20 are controlled to move away from each other to place the bottle cap on the table. For bottles with hard-to-pierce seals (such as Scream beverages), the toothed positioning clamp is aligned with the bottle mouth seal, the positioning clamp is gripped at the edge of the seal, and the seal is pulled up and torn open. Then, the gripping arms of gripper 20 are used to pick up the bottle and pour out the liquid for dispensing. Finally, the opening and closing degree of the gripper is adjusted, and the bottle cap is picked up through the bottom gripping opening 23, put back on the bottle and tightened to seal the liquid, and the bottle is recycled. This completes the entire process of beverage picking, opening, pouring, dispensing and sealing. The opening process differs slightly for bottles such as aluminum cans, glass beverage bottles, straw beverage bottles, and beverage cartons with irregular protrusions. For example, for bottles sealed with pull tabs, the clamp is brought close to the pull tab and then closed, causing the first hook arm 41 and the second hook arm 42 to abut against each other. The pull tab frame is then fixed in the recess of the first hook arm 41. The clamp is then moved to pull the pull tab off the bottle. The clamp is then rotated, and the two grippers 20 are moved away from each other so that the bottle is positioned in the gripping area. The two grippers 20 are then brought closer together to grip the bottle. The clamp is then tilted so that the liquid in the bottle flows out through the guide section 30. For bottles sealed with crown caps, the robot body rotates the entire clamp so that the bottle lifter 12 aligns with the bottle opening. The crown cap is then removed using the bottle lifter's hook. The entire process ends after all operations are completed, ensuring the rational use of resources.

[0093] Additionally, it should be noted that the target bottle in the embodiments of the present invention includes at least a bottle for bottled beverages, a can for aluminum cans, and a container for beverages such as a milk / juice carton.

[0094] Embodiments of the present invention also provide a robot control method, including determining edge information of a target bottle based on a target image, and determining angle information between the central axis of the gripping area and the central axis of the target bottle based on the edge information of the target bottle. The gripping mechanism is rotated according to the angle information of the central axis of the gripping area and the central axis of the target bottle, so that the central axis of the gripping area approximately coincides with the central axis of the target bottle. When the central axis of the gripping area and the central axis of the target bottle are approximately coincident, two grippers 20 are controlled to move towards each other to grip the target bottle.

[0095] Figure 10 This is a flowchart of an algorithm for identifying the edge of a target bottle according to an embodiment of the present invention.

[0096] Embodiments of the present invention also provide an algorithm for identifying the edge of a target bottle, the structure of which is as follows: Figure 10As shown, the main functional modules include an adaptive Gaussian noise module, an arithmetic coding feature extraction module, an adaptive gradient calculation module, a dynamic sparse convolution feature extraction module, a multi-scale feature pyramid module, an arithmetic optimization double threshold module, and a hybrid edge connection module. The specific steps of the algorithm are as follows: (1) Add adaptive Gaussian noise when training the model, dynamically adjust the noise intensity according to the local features of the image, increase data diversity to enhance the robustness of the model to noise and uncertain data, and improve the model's generalization ability; (2) Generate cumulative distribution function features by calculating the local gray-level probability distribution, and use the arithmetic operation mechanism to adaptively learn multi-scale spatial nonlinear associations to extract arithmetic coding features. The features extracted in this way can provide richer texture and spatial context information than traditional gradient features; (3) Dynamic sparse convolution feature extraction, perform standard convolution operations, generate feature importance attention maps, dynamically create sparse masks, and focus on key feature regions, such as edge regions; (4) Dynamically select the best gradient direction through the adaptive gradient calculation module. The adaptive gradient can capture the directional changes of features in space, especially edge angle features, so that the model can more accurately capture the edge structure characteristics of the image. Compared with traditional fixed-direction gradient calculation, it can dynamically adjust the gradient calculation direction according to the local features of the image, enhance the direction sensitivity of the features, and improve the accuracy of edge feature extraction. (5) The multi-scale fusion feature map is obtained by adaptively weighting and fusing global and local multi-scale features through multi-scale feature pyramid. By constructing and fusing multi-scale feature pyramid, the model can take into account both details and overall structure, which plays an important role in accurately detecting edges at different scales. (6) Since edges often correspond to the location of feature mutations, double threshold optimization is performed. The multi-scale fusion feature map first predicts the initial high and low thresholds through the arithmetic optimization double threshold module, then models the relationship between high and low thresholds, optimizes the relationship, and finally optimizes the high and low thresholds based on spatial context features to output a binary map, i.e., the initial edge detection result map. The arithmetic optimization double threshold can adaptively adjust the threshold according to the image features, which helps to more accurately determine the real edge, remove false edges caused by noise, and improve the accuracy of edge detection. (7) Finally, the hybrid edge connection layer is input to connect the broken edges more reasonably, so as to obtain a more complete and accurate edge map. The hybrid edge connectivity layer overcomes the limitations of a single strategy by working together with multiple connectivity strategies (distance matching strategy, direction consistency strategy, connected component constraint strategy, gray-scale similarity strategy, and context dependency strategy).

[0097] The edge of the target bottle is extracted using the edge extraction algorithm described above. Then, the angle of the clamp is adjusted according to the edge of the target bottle so that the gripper can firmly grasp the target bottle.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot gripper, characterized in that, include: The base is connected to the robot body; A gripping mechanism, disposed at the end of the base away from the robot body, is suitable for the target bottle and includes: Two grippers are movably mounted on the base, forming a gripping area between the two grippers, and the two grippers can move towards each other or away from each other; The gripper includes a first gripping arm and a second gripping arm, which are adapted to make line contact with the target bottle, wherein the first gripping arm is configured to be longer than the contact line between the second gripping arm and the target bottle. The gripping surfaces of the first and second gripping arms that are coupled to the target bottle are configured such that their projections on a plane perpendicular to the axis of the target bottle are arc-shaped, and the radius of the projection of the gripping surface of the first gripping arm onto the plane is larger than that of the second gripping arm; the projection of the gripper onto the plane is approximately rectangular. The gripper has an arc-shaped gripping opening on its bottom surface away from the base, and the two gripping openings form a gripping area. In response to the opposing movement of the two grippers, the sidewalls of the two gripping openings approach and abut against the bottle cap of the target bottle so that the bottle cap rotates with the base under the drive of the robot body. Toothed positioning clips are also provided on the opposite end faces of the two grippers.

2. The robot gripper according to claim 1, characterized in that, The opposing walls of the two grippers are also provided with grooves.

3. The robot gripper according to claim 1, characterized in that, The gripper extends away from the target bottle and narrows to form a hollow guide portion, wherein the gripper tilts in response to the movement of the robot body so that the object to be removed from the target bottle is discharged through the guide portion.

4. The robot gripper according to claim 1, characterized in that, It is also equipped with a hook, including: A first hook arm is disposed on the gripper, the gripper being defined as a first gripper, comprising a first extension arm extending outward from the first gripper, and a hook extending back from the end of the first extension arm toward the first gripper, wherein the hook forms a recess with the sidewall of the first extension arm; and A second hook arm extending outwardly is disposed on a second jaw opposite to the first jaw, wherein the end of the second hook arm is adapted to abut against the end of the hook of the first hook arm.

5. The robot gripper according to claim 1, characterized in that, The gripper is also equipped with a conical bottle opener that extends outward from the gripper and narrows to a sharp end.

6. A robot, characterized in that, include: The robot gripper as described in any one of claims 1-5; The robot body, connected to the base, is adapted to translate the gripper and to roll, pitch, and deflect the gripper.

7. The robot according to claim 6, characterized in that, It also includes an image acquisition device suitable for acquiring target images including the target bottle; The robot adjusts the angle of the gripper according to the target image so that the gripper can grasp the target bottle.

8. A control method for controlling the robot as described in claim 7, characterized in that, include: Based on the target image, determine the edge information of the target bottle, and based on the edge information of the target bottle, determine the angle information between the central axis of the grasping area and the central axis of the target bottle; The gripping mechanism is rotated according to the angle information of the central axis of the gripping area and the central axis of the target bottle, so that the central axis of the gripping area is approximately coincident with the central axis of the target bottle; With the central axis of the gripping area roughly coinciding with the central axis of the target bottle, the two grippers are controlled to move towards each other to grip the target bottle.

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