Special-shaped cigarette packet mechanical arm grabbing method, system, equipment and medium

Abstract

The invention provides a special-shaped cigarette packet mechanical arm grabbing method, and relates to the field of cigarette production.The tail end of a mechanical arm is provided with a suction cup unit, the suction cup unit is provided with a plurality of suction cups, the cigarette packet is provided with a plurality of grabbing faces used for being sucked by the suction cups, and the method comprises the following steps that the suction cup unit is moved to a first working position; the distance value between each detection point on the suction cup unit and the cigarette packet is judged; selecting one grabbing surface as an adsorption surface of the cigarette packet according to the distance value; enabling the sucker unit to approach the adsorption surface in a posture parallel to the adsorption surface; when the sucker unit is in contact with the adsorption surface, the moving speed of the sucker unit is dynamically adjusted until the sucker unit adsorbs the adsorption surface; adsorbed cigarette packets are carried through the mechanical arm and the suction cup unit, the mechanical arm can efficiently and stably grab the special-shaped cigarette packets, and the automation level and the production efficiency of a cigarette production line are remarkably improved.

Description

A method, system, equipment, and medium for robotic arm to grasp irregularly shaped cigarette packs. Technical Field

[0001] This invention relates to the field of cigarette production, and in particular to a method, system, equipment, and medium for gripping irregularly shaped cigarette packs using a robotic arm. Background Technology

[0002] Currently, in cigarette production, after cigarette packs are packaged, they are transported to a fixed area via a conveyor belt. Then, a suction cup device attached to the end of a robotic arm picks up the packs, completing the gripping and handling process. This method has the following main drawbacks: for irregularly shaped cigarette packs, it relies on a visual perception system to identify the object and estimate its pose; it cannot adjust the suction position, and if the angle between the suction cup plane and the suction plane is large, the suction cup may fail to hold the cigarette pack.

[0003] In cigarette production lines, robotic arms are commonly used to automatically grasp and transport cigarette packs. However, the irregular shapes of cigarette packs, such as non-standard cuboids, pose a challenge to the accurate grasping of these packs by the robotic arms. Irregularly shaped packs may have a trapezoidal shape due to excess smoke at the top, preventing the suction cups at the end of the robotic arm from fully adhering to the pack's surface, thus affecting the stability and efficiency of the grasping process. Summary of the Invention

[0004] The purpose of this invention is to provide a method, system, device, and medium for robotic arms to grasp irregularly shaped cigarette packs, thereby improving the grasping efficiency of the robotic arm.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a method for gripping irregularly shaped cigarette packs using a robotic arm, wherein the end of the robotic arm is provided with a suction cup unit, the suction cup unit having multiple suction cups, and the cigarette pack having multiple gripping surfaces for being adsorbed by the suction cups, comprising the following steps: moving the suction cup unit to a first working position; determining the distance values ​​between each detection point on the suction cup unit and the cigarette pack; selecting one gripping surface as the adsorption surface of the cigarette pack according to the distance values; bringing the suction cup unit close to the adsorption surface in an attitude parallel to the adsorption surface; dynamically adjusting the moving speed of the suction cup unit until the suction cup unit adsorbs the adsorption surface when it contacts the adsorption surface; and transporting the adsorbed cigarette pack by means of the robotic arm and the suction cup unit.

[0006] Furthermore, when the suction cup unit is in the first working position, the suction cup unit is parallel to the plane on which the cigarette pack is placed.

[0007] Furthermore, each suction cup unit has at least four suction cups, and a detection point is provided between adjacent suction cups, with a distance sensor provided at each detection point.

[0008] Further, selecting a gripping surface as the adsorption surface of the cigarette pack based on the distance value includes: fitting a first fitting surface based on the distance values ​​of all the detection points; when the first fitting surface is a plane or an inclined plane, the gripping surface of the cigarette pack located directly below the suction cup unit is selected as the adsorption surface; when the first fitting surface includes both a plane and an inclined plane, the gripping surface with the largest area among the gripping surfaces located below the suction cup unit is selected as the adsorption surface.

[0009] Further, the step of bringing the suction cup unit close to the adsorption surface in an attitude parallel to the adsorption surface includes: obtaining the current end-effector pose of the robotic arm; constructing a rotation matrix based on the current end-effector pose of the robotic arm and the normal vector of the adsorption surface; calculating the target pose of the end-effector of the robotic arm based on the rotation matrix, the target pose being the pose of the robotic arm when the suction cup unit contacts the adsorption surface; and controlling the robotic arm to move the suction cup unit based on the target pose.

[0010] Furthermore, the step of dynamically adjusting the moving speed of the suction cup unit until the suction cup unit adsorbs the adsorption surface includes: setting the maximum moving speed of the suction cup unit, calculating the target moving speed of the suction cup unit based on the maximum moving speed of the suction cup unit, the real-time distance between the suction cup unit and the adsorption surface, and the target distance between the suction cup unit and the adsorption surface; and controlling the movement of the suction cup unit according to the target moving speed.

[0011] Furthermore, the suction cups are arranged in a ring at the end of the robotic arm, and at least two distance sensors are provided between every two adjacent suction cups.

[0012] On the other hand, a robotic arm gripping system for irregularly shaped cigarette packs is provided, comprising: a first control unit for moving the suction cup unit to a first working position; a distance detection unit for determining the distance values ​​between each detection point on the suction cup unit and the cigarette pack; a selection unit for selecting a gripping surface as the adsorption surface of the cigarette pack based on the distance values; a second control unit for causing the suction cup unit to approach the adsorption surface in an attitude parallel to the adsorption surface; a third control unit for dynamically adjusting the moving speed of the suction cup unit until the suction cup unit adsorbs the adsorption surface when it contacts the adsorption surface; and a gripping unit for transporting the adsorbed cigarette pack through the robotic arm and the suction cup unit.

[0013] On the other hand, an electronic device is provided, comprising: a processor and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the above-described grasping method.

[0014] On the other hand, a computer-readable storage medium stores at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the above-described capture method.

[0015] Analysis shows that the present invention discloses a method, system, equipment and medium for robotic arm to grasp irregularly shaped cigarette packs. The present invention can realize the efficient and stable grasping of irregularly shaped cigarette packs by robotic arm, and significantly improve the automation level and production efficiency of cigarette production line. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. Figure 1 is a flowchart of an embodiment of the invention.

[0017] Figure 2 is a schematic diagram of the suction cup and the cigarette pack in a first relative positional relationship according to an embodiment of the present invention.

[0018] Figure 3 is a schematic diagram of the suction cup and the cigarette pack in a second relative positional relationship according to an embodiment of the present invention.

[0019] Figure 4 is a schematic diagram of the suction cup and the cigarette pack in a third relative positional relationship according to an embodiment of the present invention.

[0020] Figure 5 is a schematic diagram of the suction cup and the cigarette pack in a fourth relative positional relationship according to an embodiment of the present invention.

[0021] Figure 6 is a bottom view of the end effector structure of a robotic arm according to an embodiment of the present invention.

[0022] Figure 7 is a schematic diagram of a robotic arm according to an embodiment of the present invention.

[0023] Explanation of reference numerals in the attached diagram: 1. Robotic arm; 2. Suction cup; 3. Cigarette pack; 4. Distance sensor. Detailed Implementation

[0024] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. Various examples are provided by way of explanation and not by way of limitation. Indeed, those skilled in the art will recognize that modifications and variations can be made to the invention without departing from its scope or spirit. For example, a feature shown or described as part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is desirable that the invention encompass such modifications and variations falling within the scope of the appended claims and their equivalents.

[0025] In the description of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and do not require the invention to be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on the invention. The terms "connected," "linked," and "set up" used in this invention should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a direct connection or an indirect connection through intermediate components; a wired connection, a radio connection, or a wireless communication signal connection. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0026] The accompanying drawings illustrate one or more examples of the invention. The detailed description uses numerals and letters to refer to features in the drawings. Similar or analogous reference numerals in the drawings and description have been used to refer to similar or analogous parts of the invention. As used herein, the terms “first,” “second,” “third,” and “fourth,” etc., are used interchangeably to distinguish one component from another and are not intended to indicate the location or importance of a single component.

[0027] As shown in Figure 1, according to an embodiment of the present invention, a method for gripping an irregularly shaped cigarette pack 3 by a robotic arm 1 is provided. The end of the robotic arm 1 is provided with a suction cup unit, the suction cup unit having multiple suction cups 2, and the cigarette pack 3 having multiple gripping surfaces for being adsorbed by the suction cups 2. The method is characterized by the following steps: Step S101, moving the suction cup unit to a first working position; Step S102, determining the distance values ​​between each detection point on the suction cup unit and the cigarette pack 3; Step S103, selecting one gripping surface as the adsorption surface of the cigarette pack 3 according to the distance values; Step S104, bringing the suction cup unit close to the adsorption surface in an attitude parallel to the adsorption surface; Step S105, dynamically adjusting the moving speed of the suction cup unit when the suction cup unit contacts the adsorption surface until the suction cup unit adsorbs the adsorption surface; Step S106, transporting the adsorbed cigarette pack 3 by the robotic arm 1 and the suction cup unit.

[0028] When the invention begins operation, the robotic arm 1 moves its end-effector suction cup unit to a predefined first working position. This position is typically located at a safe height directly above the cigarette pack 3 to be grasped, ensuring that the suction cup unit will not collide with the cigarette pack 3 or surrounding equipment, while providing the best field of view for subsequent detection. Once the suction cup unit is stable in the first working position, the distance values ​​between each detection point and the corresponding point on the surface of the cigarette pack 3 below are detected. These distance values ​​constitute a discrete sampling data set of the three-dimensional contour of the top region of the cigarette pack 3. After obtaining the complete distance value dataset, a grasping surface is selected as the adsorption surface of the cigarette pack 3 based on the distance values. That is, in the current posture, based on the geometric features of its upper surface, the cigarette pack 3 identifies which area constitutes a continuous, flat plane oriented in a manner conducive to adsorption, and selects the optimal one as the adsorption surface for this grasp. After determining the target adsorption surface, the robotic arm 1 needs to adjust the spatial posture of its end-effector. A path is planned so that the suction cup unit moves towards the cigarette pack 3, eventually reaching a state where the two are completely parallel. This ensures that at the moment of contact, all suction cups 2 can touch the adsorption surface. In the final stage, the current distance to the target is calculated in real time, and the moving speed of suction cup 2 is controlled until the adsorption is confirmed to be successful.

[0029] In one embodiment of this application, when the suction cup unit is in the first working position, the suction cup unit is parallel to the plane on which the cigarette pack 3 is placed.

[0030] As can be understood, as shown in Figures 6 and 7, the plane on which the cigarette pack 3 is placed is typically the surface of the conveyor belt, the bottom of the positioning tray, or the workbench surface of the production line. In the system coordinate system, this is a known and stable horizontal reference plane. Controlling the robotic arm 1 so that its end-effector suction cup unit moves to the first working position while precisely maintaining parallelism with this reference plane means that the suction cup unit's own plane is in a known standard horizontal posture. The parallelism between the suction cup unit and the plane on which the cigarette pack 3 is placed simplifies the geometry of the initial detection. The initial distance value measured at each detection point directly reflects the height difference of the highest point of the cigarette pack 3 relative to the horizontal reference plane, or in other words, reflects the "height map" of the top contour of the cigarette pack 3. This provides the most intuitive and easily processed data format for subsequent data fitting. Furthermore, maintaining the suction cup unit horizontally as it moves to the first working position is a predictable and low-collision-risk standardized movement method. It ensures that the robotic arm 1 is in a regular posture before starting fine detection, facilitating the calculation of the rotation matrix from this posture to adjust the posture in any direction to align with the suction surface.

[0031] In one embodiment of this application, each suction cup unit has at least four suction cups 2, and a detection point is provided between adjacent suction cups 2. Each detection point is provided with a distance sensor 4. The suction cups 2 are arranged in a ring at the end of the robotic arm 1, and at least two distance sensors 4 are provided between every two adjacent suction cups 2.

[0032] Specifically, the number of suction cups 2 is at least four, improving adsorption stability. Three points define a plane, but a three-point support is prone to rotation around the axis formed by two of the points when disturbed. Four or more suction cups 2 form a polygonal adsorption area, providing constraints exceeding the minimum static requirements and forming stable surface contact. When adsorbing irregularly shaped cigarette packs 3, even if one suction cup 2 has a slightly uneven surface and a slightly poor seal, the remaining suction cups 2 can still provide sufficient holding force, resulting in higher system redundancy. The distance sensor 4 can be a laser rangefinder, ultrasonic sensor, or structured light module, capable of accurately measuring the distance to the surface of the cigarette pack 3 without contact. Therefore, this matrix design of "multiple suction cups 2 embedded with multiple sensors" creates a multifunctional end effector. It can perform adsorption tasks like a traditional suction cup 2, and also sense the environment in real time like a miniature scanner.

[0033] In one embodiment of this application, regarding step S103, selecting a gripping surface as the adsorption surface of the cigarette pack 3 based on the distance value includes: fitting a first fitting surface based on the distance values ​​of all the detection points; when the first fitting surface is a plane or an inclined plane, the gripping surface of the cigarette pack 3 located directly below the suction cup unit is selected as the adsorption surface; when the first fitting surface includes both a plane and an inclined plane, the gripping surface with the largest area among the gripping surfaces located below the suction cup unit is selected as the adsorption surface.

[0034] Specifically, this application presents three scenarios: First, as shown in Figure 2, the individual cigarette pack is positioned directly below the suction cup 2, and the distance values ​​detected by the eight distance sensors 4 are identical. In this scenario, the robotic arm 1 moves directly downwards to the suction position, and the suction cup 2 begins to suck up the cigarette pack 3. Then, the robotic arm 1 returns to its initial position, completing the gripping of the cigarette pack 3. Second, as shown in Figure 3, the individual cigarette pack is outside the circumferential area below the suction cup 2 system, and the trapezoidal inclined area of ​​the irregularly shaped cigarette pack 3 is located directly below the suction cup 2 system. In this scenario, by fitting the distance values ​​detected by the eight distance sensors 4 to a plane, the inclined surface is determined as the suction surface. The robotic arm 1 then controls the suction cup 2 to face the inclined surface. Then, along the normal vector of the suction surface, the suction cup 2 is controlled to move downwards. After moving to the suction position, the suction cup 2 begins to suck up the cigarette pack 3, and then the robotic arm 1 returns to its initial position, completing the gripping of the cigarette pack 3. Third, a portion of the circumferential area below the suction cup 2 system is on the upper surface of the individual cigarette pack, and the other portion is on the inclined surface of the cigarette pack 3. At this point, based on the detection values ​​of the eight distance sensors 4, the upper surface and the inclined surface can be fitted. The surface with the larger proportion of corresponding sensors on each surface is selected as the suction surface. As shown in Figure 4, the upper surface of the independent cigarette pack has a larger proportion, so it is selected as the suction surface. Then, the robotic arm 1 adjusts its position, moving the suction cup 2 above the independent cigarette pack, ensuring that the area directly below the suction cup 2 system is completely on the independent cigarette pack. Then, the robotic arm 1 is controlled to move the suction cup 2 downwards, completing the grasping task. As shown in Figure 5, the inclined surface of the irregularly shaped cigarette pack 3 has a larger proportion, so it is selected as the suction surface. The suction cup 2's posture is adjusted so that it faces the inclined surface. Then, the robotic arm 1 is controlled to move the suction cup 2 downwards, completing the grasping task.

[0035] In one embodiment of this application, regarding step S104, the step of bringing the suction cup unit close to the adsorption surface in an attitude parallel to the adsorption surface includes: obtaining the current end-effector pose of the robotic arm 1; constructing a rotation matrix based on the current end-effector pose of the robotic arm 1 and the normal vector of the adsorption surface; calculating the target pose of the end-effector of the robotic arm 1 based on the rotation matrix, wherein the target pose is the pose of the robotic arm 1 when the suction cup unit contacts the adsorption surface; and controlling the robotic arm 1 to move the suction cup unit based on the target pose.

[0036] Specifically, when the suction cup 2 of the robotic arm 1 approaches the cigarette pack 3, eight ring-shaped distance sensors 4 monitor the distance to the surface of the cigarette pack 3 in real time. The control system analyzes this data to determine the optimal posture of the suction cup 2 relative to the cigarette pack 3. If the sensors detect that the suction cup 2 is directly facing the hypotenuse or intersection of the trapezoid, the control system immediately adjusts the angle of the suction cup 2 to make it parallel to the contact surface of the cigarette pack 3, thereby increasing the contact area and improving the stability of the adsorption. The specific method for adjusting the posture when moving the suction cup 2 is as follows: the normal vector of the suction surface is... The pose matrix of the current end-effector coordinate system of robotic arm 1 for: Where, r 11 -r 33 The rotation matrix represents the current end effector posture of robotic arm 1.

[0037] Initial position P of the end effector of robotic arm 1 init for: Initial posture R of the end effector of robotic arm 1 init for: It can be seen that the z-axis direction vector of the initial posture of the end effector of robotic arm 1 is... The normal vector of the sampled surface will be extracted. and Performing the cross product, we get ,Right now: pass Construct rotation matrix and ,pass and Calculate the transformation relationship between the current posture of robotic arm 1 and the target posture: in, The Y-axis component of R0 This is the Y-axis component of R1.

[0038] Rotation matrix arrive The transformation matrix is: Where [nx,ny,nz], [ox,oy,oz], and [ax,ay,az] respectively represent The X, Y, and Z components of the rotation matrix.

[0039] Will Expressed using the axis-angle method, then The corresponding axis-angle is: Construct the target rotation matrix after attitude adjustment, first... As a rotation axis Construct rotational transformations expressed in terms of axis angles, with the axis as the axis of rotation. This represents the transformation from the initial end-effector pose of robotic arm 1 to the target end-effector pose. The purpose is to calculate the target pose of robotic arm 1 at the target point. This rotation matrix is ​​the transformation from the current end-effector pose of robotic arm 1 to the target pose, i.e.: The target location is: in This indicates the displacement from the initial point to the target point at the end of robotic arm 1. The movement of robotic arm 1 can be adjusted based on the displacement so that the area directly below suction cup 2 is completely located on the suction surface.

[0040] In one example of this application, regarding step S105, dynamically adjusting the moving speed of the suction cup unit until the suction cup unit adsorbs the adsorption surface includes: setting the maximum moving speed of the suction cup unit; calculating the target moving speed of the suction cup unit based on the maximum moving speed of the suction cup unit, the real-time distance between the suction cup unit and the adsorption surface, and the target distance between the suction cup unit and the adsorption surface; and controlling the movement of the suction cup unit based on the target moving speed.

[0041] The specific control method is as follows: The control algorithm adopts PD control, and the control algorithm is as follows: in, This is the distance between suction cup 2 and the adsorption surface; and These are the target distance error and the first derivative of the error, respectively. The control system generates a control signal based on the error and adjusts the control quantity according to the error. Represents the proportionality coefficient. This represents the differential coefficient.

[0042] in The control cycle represents the control step size for each control cycle, and is the reciprocal of the control frequency. The faster the control frequency, the shorter the control cycle. Current distance; The desired distance is the optimal adhesion distance between suction cup 2 and the suction plane; the distance error is the distance error from the previous control cycle. If the speed exceeds the maximum speed, i.e. but Robot location updated to: in This represents the current pose matrix of robotic arm 1; This indicates the target pose command sent to robotic arm 1 in the next control cycle; This represents the transformation matrix from the current pose to the target pose, i.e. This invention also discloses a robotic arm 1 gripping system for irregularly shaped cigarette packs 3, comprising: a first control unit for moving the suction cup unit to a first working position; a distance detection unit for determining the distance values ​​between each detection point on the suction cup unit and the cigarette pack 3; a selection unit for selecting a gripping surface as the adsorption surface of the cigarette pack 3 based on the distance values; a second control unit for causing the suction cup unit to approach the adsorption surface in an attitude parallel to the adsorption surface; a third control unit for dynamically adjusting the moving speed of the suction cup unit until the suction cup unit adsorbs the adsorption surface when it contacts the adsorption surface; and a gripping unit for transporting the adsorbed cigarette pack 3 through the robotic arm 1 and the suction cup unit.

[0043] The present invention also discloses an electronic device comprising: a processor and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the grasping method described in any of the preceding claims.

[0044] The present invention also discloses a computer-readable storage medium, characterized in that the computer-readable storage medium stores at least one instruction, at least one program, code set or instruction set, wherein the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor using the above-described capture method.

[0045] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects: the present invention enables a robotic arm to efficiently and stably grasp irregularly shaped cigarette packs, significantly improving the automation level and production efficiency of the cigarette production line. This control method is not only applicable to the grasping of cigarette packs, but can also be extended to the automated handling and processing of other irregularly shaped objects, and has broad application prospects.

[0046] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for gripping irregularly shaped cigarette packs using a robotic arm, wherein the end of the robotic arm is provided with a suction cup unit, the suction cup unit having multiple suction cups, and the cigarette pack having multiple gripping surfaces for being attracted by the suction cups, characterized in that, Includes the following steps: Move the suction cup unit to the first working position; determine the distance between each detection point on the suction cup unit and the cigarette pack; Based on the distance value, a gripping surface is selected as the adsorption surface of the cigarette pack; the suction cup unit approaches the adsorption surface in an attitude parallel to the adsorption surface; when the suction cup unit contacts the adsorption surface, the moving speed of the suction cup unit is dynamically adjusted until the suction cup unit adsorbs the adsorption surface; the adsorbed cigarette pack is transported by the robotic arm and the suction cup unit.

2. The method for gripping irregularly shaped cigarette packs by a robotic arm according to claim 1, characterized in that, When the suction cup unit is in the first working position, the suction cup unit is parallel to the plane on which the cigarette pack is placed.

3. The method for robotic arm grasping irregularly shaped cigarette packs according to claim 1, characterized in that, Each suction cup unit has at least four suction cups, and a detection point is provided between adjacent suction cups. Each detection point is equipped with a distance sensor.

4. The method for a robotic arm to grasp irregularly shaped cigarette packs according to claim 1, characterized in that, The step of selecting a gripping surface as the adsorption surface of the cigarette pack based on the distance value includes: fitting a first fitting surface based on the distance values ​​of all the detection points; when the first fitting surface is a plane or an inclined plane, the gripping surface of the cigarette pack located directly below the suction cup unit is selected as the adsorption surface; when the first fitting surface contains both a plane and an inclined plane, the gripping surface with the largest area among the gripping surfaces located below the suction cup unit is selected as the adsorption surface.

5. The method for a robotic arm to grasp irregularly shaped cigarette packs according to claim 1, characterized in that, The step of bringing the suction cup unit close to the adsorption surface in an attitude parallel to the adsorption surface includes: obtaining the current end-effector pose of the robotic arm; constructing a rotation matrix based on the current end-effector pose of the robotic arm and the normal vector of the adsorption surface; calculating the target pose of the end-effector of the robotic arm based on the rotation matrix, the target pose being the pose of the robotic arm when the suction cup unit contacts the adsorption surface; and controlling the robotic arm to move the suction cup unit based on the target pose.

6. A method for gripping irregularly shaped cigarette packs using a robotic arm according to claim 1, characterized in that, The step of dynamically adjusting the moving speed of the suction cup unit until the suction cup unit adsorbs the adsorption surface includes: setting the maximum moving speed of the suction cup unit; calculating the target moving speed of the suction cup unit based on the maximum moving speed of the suction cup unit, the real-time distance between the suction cup unit and the adsorption surface, and the target distance between the suction cup unit and the adsorption surface; and controlling the movement of the suction cup unit according to the target moving speed.

7. The method for a robotic arm to grasp irregularly shaped cigarette packs according to claim 3, characterized in that, The suction cups are arranged in a ring at the end of the robotic arm, and at least two distance sensors are provided between every two adjacent suction cups.

8. A robotic arm gripping system for irregularly shaped cigarette packs, characterized in that, include: The first control unit moves the suction cup unit to the first working position; the distance detection unit determines the distance value between each detection point on the suction cup unit and the cigarette pack. The unit selects a gripping surface as the adsorption surface of the cigarette pack based on the distance value; The second control unit causes the suction cup unit to approach the adsorption surface in an attitude parallel to the adsorption surface; the third control unit dynamically adjusts the moving speed of the suction cup unit when the suction cup unit contacts the adsorption surface until the suction cup unit adsorbs the adsorption surface; the gripping unit transports the adsorbed cigarette pack through the robotic arm and the suction cup unit.

9. An electronic device, characterized in that, The electronic device includes: a processor and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the grasping method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the grasping method of any one of claims 1-7.

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