Robot arm gripping method and related robot arm and medium program

Abstract

The embodiment of the application discloses a robot mechanical arm clamping method and related robot mechanical arm and medium program, the method comprises the following steps: collecting initial three-dimensional space information of a target book through a sensing module, a control module determines the close degree value of the book relative to both sides according to the initial three-dimensional space information; if both sides are greater than a preset value, the first clamping jaw opening degree is directly determined and clamping is performed; if not, the first moving operation and the second moving operation are determined based on the close degree value of both sides, the first operation moves the book to the side with looser fit, the second operation moves the book in the opposite direction until the clamping gap of both sides is not less than a preset thickness; after moving, the three-dimensional space information is collected again, the second clamping jaw opening degree is determined and clamping is performed, and the close degree value of both sides after moving is greater than the preset value. By adopting the embodiment of the application, the robot realizes stable clamping of the book without damage.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a robotic arm gripping method and related robotic arm and media program. Background Technology

[0002] Automated book picking is a core component of the intelligent upgrading of scenarios such as library book organization, bookstore book sorting, and warehouse book allocation. Due to its advantages of flexible operation and high work efficiency, robotic arms have become the main execution equipment for realizing automated book picking. The accuracy and stability of their picking directly determine the overall efficiency and quality of intelligent book picking operations.

[0003] Current book-gripping methods do not consider the characteristics of actual stacked book storage scenarios. The target book and its adjacent books often have varying degrees of tightness, with significant differences in the tightness between the two sides. In some scenarios, the gap between the books is even smaller than the thickness of the gripper. Direct gripping can easily lead to collisions and scrapes between the gripper and adjacent books, causing not only failure to grip the target book but also damage to the book's corners and cover. Therefore, how to achieve stable, damage-free book gripping by robots is an urgent problem to be solved. Summary of the Invention

[0004] This application provides a robotic arm gripping method and related robotic arm and medium program, which realizes the robot's stable gripping of books without damage.

[0005] In a first aspect, embodiments of this application provide a robot-based book-holding method, applied to a robot's robotic arm, the robotic arm including a sensing module, a control module, and a gripping module; the method includes: The initial three-dimensional spatial information corresponding to the target book is acquired through the sensing module. The control module determines a first fit tightness value corresponding to the first side and a second fit tightness value corresponding to the second side of the target book based on the initial three-dimensional spatial information; the first side and the second side are located on opposite sides of the target book, respectively. Determine whether both the first adhesion tightness value and the second adhesion tightness value are greater than the preset adhesion tightness value; If so, the control module determines the opening degree of the first gripper corresponding to the gripping module based on the initial three-dimensional spatial information, and the gripping module grips the target book based on the opening degree of the first gripper. If not, the control module determines a first movement operation and a second movement operation based on the first and second fit tightness values. The first movement operation is performed before the second movement operation. The first movement operation is used to move the target book to the side with a smaller fit tightness value, and the second movement operation is used to move the target book in the opposite direction, so that the clamping gap on the first side and the clamping gap on the second side are both not less than a preset thickness. The clamping module moves the target book based on the first and second movement operations, and the sensing module acquires the three-dimensional spatial information of the target book after movement. The control module determines the opening degree of the second gripper corresponding to the clamping module based on the three-dimensional spatial information after movement, and then the clamping module clamps the target book based on the opening degree of the second gripper. The third fit tightness value corresponding to the first side and the fourth fit tightness value corresponding to the second side, determined based on the three-dimensional spatial information after movement, are both greater than the preset fit tightness value.

[0006] Secondly, embodiments of this application provide a robot-based book gripping device applied to a robot's robotic arm, the robotic arm including a sensing module, a control module, and a gripping module; the device includes a data acquisition unit and a processing unit; The acquisition unit is used to acquire the initial three-dimensional spatial information corresponding to the target book through the sensing module; The processing unit is used to determine, through the control module, a first fitting tightness value corresponding to the first side and a second fitting tightness value corresponding to the second side of the target book based on the initial three-dimensional spatial information; the first side and the second side are respectively located on opposite sides of the target book; Determine whether both the first adhesion tightness value and the second adhesion tightness value are greater than the preset adhesion tightness value; If so, the control module determines the opening degree of the first gripper corresponding to the gripping module based on the initial three-dimensional spatial information, and the gripping module grips the target book based on the opening degree of the first gripper. If not, the control module determines a first movement operation and a second movement operation based on the first and second fit tightness values. The first movement operation is performed before the second movement operation. The first movement operation is used to move the target book to the side with a smaller fit tightness value, and the second movement operation is used to move the target book in the opposite direction, so that the clamping gap on the first side and the clamping gap on the second side are both not less than a preset thickness. The clamping module moves the target book based on the first and second movement operations, and the sensing module acquires the three-dimensional spatial information of the target book after movement. The control module determines the opening degree of the second gripper corresponding to the clamping module based on the three-dimensional spatial information after movement, and then the clamping module clamps the target book based on the opening degree of the second gripper. The third fit tightness value corresponding to the first side and the fourth fit tightness value corresponding to the second side, determined based on the three-dimensional spatial information after movement, are both greater than the preset fit tightness value.

[0007] Thirdly, embodiments of the present invention provide an electronic device, including: a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor to cause the electronic device to perform the method as described in the first aspect.

[0008] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing a computer program that is executed by a processor to implement the method as described in the first aspect.

[0009] Fifthly, embodiments of the present invention provide a computer program product including a non-transitory computer-readable storage medium storing a computer program, such that a computer performs the method as described in the first aspect.

[0010] Implementing the embodiments of the present invention has the following beneficial effects: As can be seen, the robot-based book gripping method described in this embodiment of the invention is applied to a robotic arm, which includes a sensing module, a control module, and a gripping module. Specifically, firstly, the sensing module acquires initial three-dimensional spatial information corresponding to the target book. Then, the control module determines a first fitting tightness value corresponding to the first side and a second fitting tightness value corresponding to the second side of the target book based on the initial three-dimensional spatial information. Next, it is determined whether both the first and second fitting tightness values ​​are greater than a preset fitting tightness value. If both the first and second fitting tightness values ​​are greater than the preset fitting tightness value, then the control module determines the opening degree of the first gripper corresponding to the gripping module based on the initial three-dimensional spatial information, and the gripping module grips the target book based on the first gripper opening degree. If the first and second fitting tightness values ​​are greater than the preset fitting tightness value, then the control module determines the opening degree of the first gripper corresponding to the gripping module based on the initial three-dimensional spatial information, and the gripping module grips the target book based on the first gripper opening degree. If a fit tightness value exists that is less than or equal to the preset fit tightness value, then the control module determines a first movement operation and a second movement operation based on the first and second fit tightness values. The first movement operation is performed before the second movement operation. The first movement operation moves the target book towards the side with the smaller fit tightness value, and the second movement operation moves the target book in the opposite direction, ensuring that the clamping gaps on both sides are not less than a preset thickness. Then, the gripping module moves the target book based on the first and second movement operations. The sensing module acquires the three-dimensional spatial information of the target book after movement. Next, the control module determines the opening degree of the second gripper corresponding to the gripping module based on the three-dimensional spatial information after movement. Finally, the gripping module grips the target book based on the second gripper opening degree. Using the embodiment of this application, a robot achieves stable, damage-free gripping of books. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this application or the background art, the accompanying drawings used in the embodiments of this application or the background art will be described below.

[0012] Figure 1 This is a schematic diagram of the structure of a robotic arm provided in an embodiment of this application; Figure 2 This is a flowchart of a robot-based book-holding method provided in an embodiment of this application; Figure 3 This is a flowchart illustrating how to determine the degree of fit in an embodiment of this application; Figure 4This is a flowchart of a method for determining a movement operation provided in an embodiment of this application; Figure 5 This is a flowchart illustrating how to pick up a target book according to an embodiment of this application; Figure 6 This is a flowchart of a method for determining a target clamping force according to an embodiment of this application; Figure 7 This is a schematic diagram of the structure of a robot-based book clamping device provided in an embodiment of this application; Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0013] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present application.

[0014] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0015] In this document, the term "implementation" means that a specific feature, structure, or characteristic described in connection with an implementation may be included in at least one implementation of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same implementation, nor is it a separate or alternative implementation mutually exclusive with other implementations. It will be explicitly and implicitly understood by those skilled in the art that the implementations described herein can be combined with other implementations.

[0016] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a robotic arm provided in an embodiment of this application, such as... Figure 1 As shown, the robotic arm 10 includes a sensing module 101, a control module 102, and a gripping module 103.

[0017] In this embodiment, the perception module works collaboratively with its built-in depth vision sensor, 3D LiDAR, infrared ranging unit, and image acquisition unit. The image acquisition unit and depth vision sensor first acquire images and perform 3D visual modeling of the target book and its surrounding environment, identifying the outline, thickness, spatial position, and orientation of the target book. The 3D LiDAR performs high-precision scanning of the contact area between the target book and adjacent books, acquiring spatial data such as gap distance and flatness of the contact surface. The infrared ranging unit assists in supplementing gap detection information in scenarios with poor lighting or obstructions. The control module fuses the above-mentioned multi-sensor data to finally generate and obtain the complete initial 3D spatial information corresponding to the target book. As the core of the overall control, the control module receives the 3D spatial information uploaded by the perception module, calculates and judges whether the tightness of the contact between the two sides of the target book meets the requirements. Based on the clamping conditions, if the clamping conditions are not met, a reasonable movement sequence and movement parameters are planned according to the difference in the tightness of the fit on both sides, generating first and second movement operation commands to form a sufficient and uniform clamping gap. When the clamping conditions are met, the opening and closing degree of the corresponding jaws is matched according to the book size, and the optimal target clamping force is determined based on the clamping force change curve and safety factor during the clamping process. Through refined control commands, excessive clamping force is used to avoid damaging the book or causing it to slip due to insufficient clamping force. The gripping module executes corresponding actions under the command of the control module. First, the jaws are inserted into the clamping gaps on both sides of the book according to the set opening and closing degree, and then the jaws are driven to close in a smooth manner. During the closing process, the clamping force status is fed back in real time. When the optimal target clamping force is reached, a constant force clamping state is maintained, and then the book is smoothly removed. Through precise opening and closing control and constant and moderate clamping force, the book is clamped stably without damage.

[0018] In this embodiment, the perception module may include various sensing and detection units such as a depth vision sensor, a 3D LiDAR, an infrared ranging unit, and an image acquisition unit. The depth vision sensor and the image acquisition unit are mainly used to perform image recognition and 3D modeling of the target book and surrounding books, and to obtain information on the book's thickness, width, placement posture, and spatial position. The 3D LiDAR is mainly used to collect high-precision data on the gap distance and fit between the side of the book and adjacent books. The infrared ranging unit is used to assist in detecting the tightness of the fit between adjacent books, making up for the detection defects of the vision sensor in low light or occluded scenes. All kinds of sensing units work together to finally output complete and accurate initial 3D spatial information of the target book.

[0019] Specifically, the depth vision sensor and image acquisition unit are mainly responsible for visual acquisition and three-dimensional reconstruction of the bookshelf area corresponding to the target book. By capturing images of the target book's appearance and performing visual analysis, the system identifies the target book's outline, thickness, placement angle, and specific position on the bookshelf, while also distinguishing the boundary between the target book and adjacent books.

[0020] Three-dimensional lidar is used to perform non-contact, high-precision distance detection on the bonding area between adjacent books. By emitting and receiving laser signals, it obtains spatial data such as the gap size between the target book and adjacent books, and the flatness of the bonding surface, which can accurately reflect the tightness of the bonding between books.

[0021] As an auxiliary detection component, the infrared ranging unit is mainly used to supplement the detection of the spacing information on the sides of the book in scenarios with low light, book obstruction, or blind spots in visual detection, and to provide real-time feedback on the fit between the books, thereby improving the stability of the sensing module in detecting books in complex placement environments.

[0022] In this embodiment, the control module may include a data processing unit, a motion control unit, and a clamping force calculation unit. These components work together to complete the overall decision-making and command output for book clamping.

[0023] Specifically, the data processing unit can receive and analyze multi-source sensor information such as depth images, 3D point clouds, and distance data collected by the perception module, fuse and correct the 3D spatial information of the target book, identify the book's outline, thickness, position, and the adhesion status with adjacent books, and calculate the adhesion tightness value of the two sides of the target book.

[0024] The motion control unit can generate corresponding mechanical motion commands based on the analysis results of the data processing unit. When it is determined that there is no need to adjust the book, it can directly plan the gripping path. When it is determined that the gap between the books needs to be adjusted, it can generate control commands for the first movement operation and the second movement operation in sequence, and simultaneously control the overall displacement, posture adjustment and opening and closing action of the robotic arm and the gripper.

[0025] The clamping force calculation unit can receive clamping force data fed back by the force sensing unit during the clamping process of the gripper closing, calculate the target clamping force that can prevent slippage without damaging the book, and adjust the output torque of the drive unit in real time to achieve dynamic closed-loop control of the clamping force.

[0026] In this embodiment, the gripping module serves as the core actuator for the robotic arm to perform book gripping and picking operations. It is mainly used to complete actions such as opening and closing the gripper, gripping the book, adjusting the position, and picking it up under the command control of the control module, so as to achieve non-damaging, stable and reliable gripping of the target book.

[0027] Specifically, the gripper is the actuating component in the gripping module that directly contacts the target book. It is mainly used to apply clamping force from opposite sides of the book. By using a clamping surface that adapts to the shape of the book and a reasonable clamping range, it firmly fits the side wall of the book, ensuring clamping stability while avoiding squeezing, bending or breaking the book.

[0028] The drive unit provides power support for the gripping module. It is mainly used to receive control signals from the control module and drive the grippers to open and close according to the set opening and closing degree. At the same time, it controls the movement speed and displacement stroke of the grippers to ensure that the grippers can accurately extend into the gripping gaps on both sides of the book and smoothly complete the gripping and book removal operations according to the planned actions.

[0029] The force sensing unit is mainly used to detect the clamping force between the gripper and the target book in real time. During the clamping process, it continuously collects clamping force data and uploads it to the control module to prevent the book from being damaged due to excessive clamping force or slipping due to insufficient clamping force.

[0030] Please see Figure 2 , Figure 2 This is a flowchart of a robot-based book-holding method provided in an embodiment of this application. The method is applied to the robotic arm of a robot and includes, but is not limited to, the following steps: S201: Acquire the initial three-dimensional spatial information corresponding to the target book through the sensing module.

[0031] In this embodiment, the perception module can use sensing components such as depth vision sensors, three-dimensional lidar, infrared ranging units, and image acquisition units to perform all-round detection of the target book on the bookshelf and its surrounding environment, and obtain information such as the spatial position, placement posture, shape and size of the target book and the relative distance between it and adjacent books, thereby determining the initial three-dimensional spatial information that can reflect the spatial state of the target book.

[0032] S202: The control module determines, based on the initial three-dimensional spatial information, the first fitting tightness value corresponding to the first side and the second fitting tightness value corresponding to the second side of the target book.

[0033] In this embodiment, the first side and the second side are located on opposite sides of the target book, respectively.

[0034] In this embodiment, the explanation mainly focuses on the case where both the first and second sides of the target book are books. When one or both sides of the target book are in close contact with a fixed structure such as a bookshelf side panel or a wall, the sensing module will identify this type of immovable rigid boundary during the process of collecting three-dimensional spatial information. When calculating the tightness of contact, the control module will determine this type of fixed interface as a constraint boundary with no adjustment margin. It will no longer perform a movement operation towards the bookshelf or wall, but will only make a single fine adjustment to the side where there is a gap between the books, or only control the gripper to extend into the tiny gap between the book and the rigid boundary. At the same time, with a smaller gripping stroke and a gentler gripping force, a safe gap that meets the gripping requirements is formed without squeezing the bookshelf or wall, thereby achieving non-damaging and stable gripping of the book that is in close contact with the rigid boundary.

[0035] After receiving the initial three-dimensional spatial information uploaded by the sensing module, the control module performs data analysis on the first and second sides of the target book that are facing each other. Based on the size of the gap between the two sides of the book, the flatness of the fit, and the tightness of the contact, the control module calculates and obtains a first fit tightness value and a second fit tightness value that can characterize the tightness of the fit between the two sides.

[0036] S203: Determine whether both the first fitting tightness value and the second fitting tightness value are greater than the preset fitting tightness value.

[0037] In this embodiment, the control module compares the calculated first and second fit tightness values ​​with the preset fit tightness values ​​to determine whether the fit on both sides of the target book meets the standard for direct clamping, thereby determining whether to perform the clamping operation directly or to adjust the position of the target book before clamping.

[0038] S204: If so, the target book is picked up by the control module.

[0039] In this embodiment, when the tightness of the fit between both sides of the target book meets the clamping requirements, the control module calculates and determines the opening degree of the first gripper that is adapted to the current book size based on parameters such as the thickness and position of the target book in the initial three-dimensional spatial information. Then, it sends a control command to the gripping module so that the gripping module can complete the operation of opening the gripper, inserting it into the gap, closing it to clamp and remove the book according to the opening degree.

[0040] S205: If not, the control module determines the first movement operation and the second movement operation based on the first fit tightness value and the second fit tightness value.

[0041] In this embodiment, the first moving operation is performed before the second moving operation. The first moving operation moves the target book towards the side with a smaller fit tightness value, and the second moving operation moves the target book in the opposite direction, ensuring that the clamping gaps on both the first and second sides are not less than a preset thickness. The preset thickness can be determined by the control module based on parameters such as the actual thickness of the grippers, the thickness of the target book, and the clamping safety margin.

[0042] The first movement operation is the initial adjustment action that the control module performs first when it determines that the clamping space on both sides of the target book is insufficient. The specific content of the first movement operation is to control the clamping module to move the target book slightly towards the side with a smaller tightness value, that is, a relatively looser one. Through this unidirectional displacement, the side that was originally too tight and had insufficient gap is first opened up, increasing the gap between that side and the adjacent book, avoiding direct movement to the tightly fitted side, which would cause the book to be squeezed, bent, or collide with the bookshelf or wall.

[0043] The second movement operation is a reset adjustment action performed after the first movement operation is completed. After the target book moves to the looser side and forms a gap on one side, the control module controls the gripping module to move the target book back slightly in the opposite direction. Through this reverse movement, the gap that was overstretched in the first movement operation is appropriately reduced, and the originally narrow gap on the other side is further widened. Finally, the gripping gaps on both sides of the target book reach a uniform state that is not less than the preset thickness, ensuring that the grippers can smoothly extend and complete the gripping, and avoiding gaps that are too large or too small on one side.

[0044] By adjusting the book step by step—first moving it to the looser side and then moving it back in the opposite direction—the book can be moved to create a sufficient clamping gap on both sides without damaging it or squeezing adjacent books or rigid structures such as bookshelf walls. This effectively prevents the book from tilting, curling, or shifting its clamping position, while maintaining a balanced gap on both sides, making the subsequent force on the grippers more stable. This results in a non-damaging, high-precision, and highly stable clamping of the book.

[0045] S206: The target book is moved by the clamping module based on the first moving operation and the second moving operation, and then the target book is clamped by the clamping module.

[0046] In this embodiment, after the gripping module moves the target book based on the first and second movement operations, the sensing module needs to acquire the three-dimensional spatial information of the target book after the movement. The control module determines the opening degree of the second gripper corresponding to the gripping module based on the three-dimensional spatial information after the movement, and then the gripping module grips the target book based on the opening degree of the second gripper. The third fit tightness value corresponding to the first side and the fourth fit tightness value corresponding to the second side, determined based on the three-dimensional spatial information after the movement, are both greater than the preset fit tightness value.

[0047] By moving the target book using the clamping module based on the first and second movement operations, the target book can be freed from an overly close-fitting state on both sides, forming a uniform gap that meets the clamping requirements. After the position adjustment is completed, the sensing module collects three-dimensional spatial information of the adjusted target book and its surrounding environment, re-acquiring the book's current accurate position, posture, the size of the gap on both sides, and its relative relationship with adjacent objects, thus obtaining the three-dimensional spatial information after the movement.

[0048] After receiving the three-dimensional spatial information after the book has been moved, the control module, in conjunction with the updated book size, the width of the clamping gaps on both sides, and other data, recalculates and determines the opening degree of the second gripper to adapt to the current state. The opening degree of the second gripper is different from the initial opening degree of the first gripper. It is optimized based on the actual adjusted position and gap of the book. This ensures that the gripper can smoothly extend into the gaps on both sides without causing collisions due to excessive opening or failure to clamp due to insufficient opening. This makes the opening range of the gripper highly matched with the current book clamping environment, further improving the accuracy and safety of the clamping action.

[0049] Subsequently, the gripping module performs a gripping action according to the instructions issued by the control module, with the second gripper opening degree, to complete the stable gripping of the target book. At the same time, based on the three-dimensional spatial information after the movement, the control module recalculates the third fit tightness value corresponding to the first side of the target book and the fourth fit tightness value corresponding to the second side, and confirms that both are greater than the preset fit tightness value, which is used to verify that after two movements and adjustments, the two sides of the book have sufficient and stable gripping space.

[0050] As can be seen, by first detecting the tightness of the fit between the two sides of the book, and then adaptively selecting the control method of direct clamping or step-by-step fine-tuning based on the detection results, the gap that meets the clamping requirements can be accurately formed in complex scenarios where books are densely placed. This avoids squeezing, scratching or collision damage to the book and adjacent books during the clamping process. At the same time, by combining the three-dimensional information after movement to redetermine the opening and closing degree of the gripper, the stability and reliability of the clamping action are effectively improved, the adaptability and success rate of the robot's automatic book retrieval are enhanced, and the book is clamped stably without damage.

[0051] Please see Figure 3 , Figure 3 This application provides a flowchart for determining the degree of fit tightness, including but not limited to the following steps: S301: Based on the initial three-dimensional spatial information, determine the bonding distance and gap size between the target book and the first book to obtain the first bonding distance and the first gap size.

[0052] In this embodiment, the first book is the book adjacent to the first side. The first contact gap refers to the vertical distance from the surface of the first side of the target book to the corresponding contact surface of the adjacent first book. This distance directly reflects the tightness of the two books being pressed together; the smaller the contact gap value, the tighter the two books are pressed together. The first gap size refers to the actual space available for clamping operations between the target book and the first book. The first gap size reflects the open space and the space that can be extended between the two books, and is used to reflect whether the clamping space is sufficient.

[0053] S302: Determine the first reference bonding tightness value corresponding to the first side based on the first bonding spacing.

[0054] In this embodiment, it can be a first mapping relationship between a preset bonding spacing and a bonding tightness value. Based on this first mapping relationship, the bonding tightness value corresponding to the first bonding spacing can be determined, thereby obtaining a first reference bonding tightness value corresponding to the first side.

[0055] S303: Determine the first adjustment parameter corresponding to the first gap size.

[0056] In this embodiment, it can be a second mapping relationship between a preset gap size and an adjustment parameter. Based on this second mapping relationship, a first adjustment parameter corresponding to the first gap size can be determined.

[0057] S304: Adjust the first reference fit tightness value based on the first adjustment parameter to obtain the first fit tightness value.

[0058] In this embodiment, the first adhesion tightness value can be calculated in the following manner: First fit tightness value = First reference fit tightness value × (1 + First adjustment parameter); The first reference fit tightness value can be adjusted based on the first adjustment parameter in the above manner to obtain the first fit tightness value.

[0059] It should be explained that, in this embodiment, the method for determining the first fitting tightness value corresponding to the first side is the same as the method for determining the second fitting tightness value corresponding to the second side. Specifically, the second fitting distance is the vertical distance from the second side surface of the target book to the corresponding fitting surface of the second book, which is used to reflect the degree of fitting between the two. The second gap size is the actual space size between the two that can be used for clamping operations, which is used to reflect whether the clamping space is sufficient. Then, the second reference fitting tightness value corresponding to the second side is determined according to the preset mapping relationship between the fitting distance and the fitting tightness value. Then, the second adjustment parameter corresponding to the second gap size is determined according to the preset mapping relationship between the gap size and the adjustment parameter. Finally, the second reference fitting tightness value is adjusted by the second adjustment parameter to obtain the second fitting tightness value.

[0060] It can be seen that by calculating the tightness of the fit between the two sides of the target book, the fit distance between the books and the actual clamping gap size can be combined for comprehensive quantification. The fit distance is used to determine the basic reference value, and the adjustment parameters corresponding to the gap size are used to correct it. This makes the final tightness value more in line with the actual clamping conditions, effectively improving the accuracy and reliability of the tightness determination.

[0061] It should be explained that the tightness of the fit between the two sides can also be determined by defining the particle sets of the adjacent surfaces on the left and right sides of the target book and using the chamfer distance calculation method. Specifically, based on the arrangement direction of the book queue, the boundary particle subsets of the left and right adjacent surfaces of the target book, as well as the boundary particle subsets of the corresponding adjacent surfaces of the left and right adjacent books, are extracted. The chamfer distance between the target book and the left and right adjacent books is calculated respectively. Then, a scale coefficient calibrated according to the standard thickness of the book is introduced, and a nonlinear mapping from distance to tightness is completed through the natural exponential function. Finally, the tightness of the left side and the tightness of the right side, with values ​​ranging from 0 to 1, are obtained. These are used as the tightness values ​​of the first and second sides respectively. The larger the value, the tighter the fit of the corresponding side and the smaller the allowance for pushing.

[0062] In this embodiment, taking the first side of the target book as the left and the second side as the right as an example, and taking the arrangement direction of the book queue as the axis, the left and right adjacent surfaces of the target book are defined. The first and second adhesion tightness values ​​are obtained by quantifying the tightness of the fit between the target book and its adjacent books on the left and right sides. Specifically, the left-side tightness characterizes the fit between the target book and its left-side adjacent book and the allowable movement, while the right-side tightness characterizes the fit between the target book and its right-side adjacent book and the allowable movement. Both values ​​range from 0 to 1; a larger value indicates a tighter fit and a smaller allowable movement, while a value of 0 indicates no adjacent constraints and free movement. The quantification of tightness is based on the spatial distance distribution of the particle set and is calculated using a standard chamfer distance. The specific formula is as follows: ; ; in, The tightness of the left side of the target book. The tightness of the right side of the target book. The scaling factor used to calibrate the standard thickness of the target book. Standard chamfer distance, The subset of boundary particles on the left adjacent plane within the target book particle set. This refers to the subset of boundary particles located on the right face adjacent to the target book within the set of book particles adjacent to the left. The subset of boundary particles on the right-hand adjacent plane within the target book particle set. It is the subset of boundary particles located on the left face adjacent to the target book in the set of adjacent book particles on the right.

[0063] It should be explained that the standard chamfer distance is a metric used to quantify the closeness between two sets of particles. Its calculation logic is to start from each of the two sets of particles, calculate the square of the Euclidean distance from each particle in one set to the nearest particle in the other set, and then calculate the average distance for each set and sum them up. This comprehensively reflects the overall closeness of the two sets of particles in space. The smaller the value, the closer the two sets of particles are and the smaller the gap. The larger the value, the looser the fit and the larger the gap. It can accurately quantify the spatial fit between the target book and adjacent books.

[0064] Please see Figure 4 , Figure 4 This application provides a flowchart of a method for determining a movement operation, including but not limited to the following steps: S401: When the first fit tightness value is greater than the second fit tightness value, the first movement direction corresponding to the first movement operation is determined to be from the first side to the second side, and the second movement direction corresponding to the second movement operation is from the second side to the first side.

[0065] In this embodiment, since the first tightness value is greater than the second tightness value, it indicates that the first side of the target book fits more tightly with the adjacent book and has a smaller usable clamping gap, while the second side fits more loosely and has more reserved space. Therefore, setting the first moving direction to be from the first side to the second side allows the book to move towards the side with more space and less resistance first, thereby safely opening up the narrow gap on the first side and avoiding direct movement towards the tight side that could cause the book to be squeezed or damaged. Then, the book is moved back appropriately in the opposite second moving direction, which can make the gaps on both sides reach the preset thickness, ensuring that the clamping space is uniform and sufficient, and achieving stable and damage-free clamping.

[0066] In actual clamping operations, if the target book is tightly attached to a rigid fixed boundary such as a bookshelf side panel or wall, or if the adjacent book on the tightly attached side is a thick, firmly bound hard book that can withstand slight pushing force without deformation or damage, the target book can be pushed from the loosely attached side to the tightly attached side, so that the target book is tightly attached to the book or rigid boundary on the tightly attached side. Then, control the jaws to hold the loosely attached side of the target book with a small clamping force, and use the static friction between the jaw gripping surface and the book cover to form a stable grip. Then, pull it out smoothly along the length of the book. During this process, the side of the book will generate slight sliding friction with the adjacent book or rigid boundary. Relying on this frictional cooperation, the book can be removed without fully opening the gap, and the book can be prevented from curling, breaking, or adjacent books from tipping over due to forcibly opening the space. This is especially suitable for scenarios where the space on both sides is extremely narrow and it is impossible to form a sufficient clamping gap.

[0067] S402: Determine the first moving distance based on the first bonding spacing and the preset thickness.

[0068] In this embodiment, the first moving distance is not less than the difference between twice the preset thickness and the first contact gap. The purpose of ensuring the first moving distance is not less than twice the preset thickness and the first contact gap is to fully expand the gap on the tightly fitted side when the target book moves to the looser side, ensuring that the gap on that side after movement is at least sufficient to meet the preset thickness required for the grippers to extend. Simultaneously, it reserves sufficient space for subsequent reverse movement, ensuring that both sides ultimately form a qualified clamping gap. This can be achieved by first calculating the difference between twice the preset thickness and the first contact gap, and then setting the first moving distance to be greater than or equal to this difference. This ensures sufficient moving stroke and avoids insufficient moving distance leading to an excessively small gap, which would prevent safe and effective clamping operations.

[0069] It should be explained that this difference can be directly used as the minimum moving distance. The additional allowance is generally controlled between 2 mm and 10 mm. When choosing the specific value, a smaller allowance should be selected for books with softer paper that are easily deformed, while a larger allowance can be appropriately increased for books with hard covers and tightly packed books. At the same time, it should be adjusted in combination with the motion control precision of the gripper to ensure that sufficient clamping gap can be formed after movement, while avoiding books tilting, adjacent books tipping over, or wasting space due to excessive movement distance. This ensures the reliability of clamping while improving the stability and safety of the overall action.

[0070] It should be explained that the first moving distance can also be determined based on the core motion parameter judgment and the optimization of differentiable physical kinematics. Specifically, firstly, the tightness values ​​of the left and right sides of the target book are compared, and the first operation direction is determined according to the tightness value. That is, when the tightness of the left side is less than or equal to the tightness of the right side, the first operation direction is the negative direction along the book layout axis, and vice versa. At the same time, the target side of the opposite side and the reserved basic gap are identified. Then, the gap size of the opposite side after the first book pushing action is executed is used as the optimization target, and a loss function is constructed that includes the target basic gap size and the constraint of the book pushing action amplitude. The target basic gap size can be taken as 0.5 times the thickness of the gripper fingertip. The initial maximum distance of the book pushing action is determined by the height-to-thickness ratio of the book and the safety factor. Together with the maximum permissible book pushing distance, a safety factor of 0.6 to 0.8 is used to prevent books from tipping over, and the maximum permissible book pushing distance is set to 0.5 times the thickness of the target book to prevent books from falling off. Based on the differentiable rigid body dynamics model of the book queue, the end-to-end differentiable computation of the book pushing action is achieved by relying on the state transition function of differentiable physical simulation. The above loss function is iteratively optimized through gradient descent to finally obtain the optimal first book pushing action parameters, which are used as the first moving distance. This method can ensure that a basic gap is formed on the opposite side to meet the requirements of the gripper insertion, while avoiding excessive book pushing action that could cause the book to tilt, fall off, or adjacent books to tip over. It achieves accurate adaptive determination of the first moving distance, improving the safety and reliability of the book pushing action.

[0071] S403: Determine the first movement operation based on the first movement distance and the first movement direction.

[0072] In this embodiment, when performing the first moving operation, the gripping module gently and steadily contacts and supports the side of the target book with a gentle and stable gripping force. According to the determined first moving direction and first moving distance, the book is slowly and steadily pushed to the side with a looser fit. The speed and force of the movement are controlled throughout the pushing process to avoid impact or slippage. While opening up the gap on the side with a tighter fit, the book is not curled, folded at the corner, or caused adjacent books to tip over, until the book has moved the first moving distance according to the first moving direction.

[0073] S404: Determine the second moving distance based on the preset thickness.

[0074] In this embodiment, the second moving distance is not less than the preset thickness. The second moving distance being not less than the preset thickness ensures that the gap created by the first moving operation can be returned to form an effective space that meets the clamping requirements. This guarantees that after the target book is returned in the reverse direction, the gaps on both sides can reach the minimum size required for the grippers to extend, avoiding insufficient clamping space due to insufficient return distance. Simultaneously, it ensures the book is positioned appropriately and the force is evenly distributed, preventing clamping offset and book tilting caused by excessively large or small gaps on one side, thereby achieving stable and damage-free clamping.

[0075] It should be explained that, with the goal of ensuring that the space reserved on both sides of the target book meets the insertion requirements of the grippers, the second moving direction is set to be opposite to the first moving direction. The stopping condition is the thickness of the gripper fingertip plus a safety margin. The optimal moving step length is planned through rolling optimization, which constrains the book displacement and maximizes the gap between the two sides. Combined with closed-loop feedback to verify the status in real time, the appropriate second moving distance is finally determined to ensure that the clamping gap on both sides meets the standard and the book is stable. Specifically, the second movement direction is first set to be opposite to the first movement direction. The optimization goal is to ensure that the reserved space on both sides of the target book meets the insertion requirements of the gripper. The thickness of the gripper fingertip plus the safety margin is used as the standard for meeting the space requirements. Then, a rolling optimization framework is used to plan the optimal movement step length. During the optimization process, the overall displacement of the book is constrained and the reserved space on both sides is maximized. The optimization is carried out by initializing the prior distribution, sampling candidate actions, calculating the reward value based on differentiable physical simulation, selecting elite action sequences to update the distribution and iteratively optimizing until the optimal movement parameters are output. Finally, a step-by-step execution and closed-loop feedback mode is adopted. After each step, the state is updated by visual perception and the size of the gap on both sides is checked. The robot stops immediately when the standard is met, the contact force exceeds the limit, or the book is abnormal. This accurately determines the second movement distance and ensures that the gripping gap on both sides meets the conditions for the robot to stably grip the target book.

[0076] S405: Determine the second movement operation based on the second movement direction and the second movement distance.

[0077] In this embodiment, when performing the second movement operation, the gripping module maintains a gentle and stable gripping force to support the side of the target book. According to the determined second movement direction and second movement distance, the book is slowly and smoothly moved back to the side that is more closely fitted. The speed and force of the movement are controlled throughout the movement process to avoid impact or slippage. While ensuring that the gaps on both sides reach the preset thickness, the book is not curled, folded, or caused to tilt adjacent books, until it has moved the second movement distance according to the second movement direction.

[0078] As can be seen, by adaptively determining the direction of movement by comparing the tightness values ​​of the two sides of the target book, and accurately calculating the movement distance based on the bonding gap and preset thickness, the two sides of the book can form a uniform gap that meets the clamping requirements after two movements. This avoids problems such as book squeezing, curling, and adjacent books tipping over due to unreasonable movement direction or inaccurate movement distance. At the same time, it can adapt to book clamping scenarios with different placement densities and different gap sizes, effectively improving the accuracy and stability of the clamping action, and realizing the robot's non-damaging and stable clamping of books.

[0079] It should be explained that in this embodiment, when the first tightness value is less than or equal to the second tightness value, it indicates that the second side of the target book is more tightly fitted and the clamping gap is smaller. Therefore, the first moving direction is set from the second side to the first side, so that the book moves to the side with more space and less resistance, thereby safely opening up the narrow gap on the second side. Then, the book is moved back in the opposite second moving direction. The first moving distance is not less than twice the preset thickness and the difference between the second tightness gap, so as to ensure that the tight side gap is fully opened and space is reserved for the return movement. The second moving distance is not less than the preset thickness, so as to ensure that the gaps on both sides meet the clamping requirements after the return movement. When performing the first moving operation, the clamping module gently holds the side of the book and pushes it smoothly along the first moving direction for a set distance. When performing the second moving operation, the clamping force is maintained and the book is smoothly moved back for a set distance along the second moving direction. The speed and force are controlled throughout the process to avoid damage to the book or the tipping of adjacent books, and finally a uniform and sufficient clamping gap is formed.

[0080] In this embodiment, the gripping module includes grippers, a drive unit, and a force sensing unit. Please refer to [link / reference]. Figure 5 , Figure 5 This is a flowchart of a method for picking up a target book according to an embodiment of this application, including but not limited to the following steps: S501: The drive unit drives the grippers to extend into both sides of the target book based on the opening degree of the first gripper.

[0081] In this embodiment, the gripper can be configured with a symmetrical parallel clamping structure, with the two clamping arms arranged opposite to each other and connected to the drive unit. The drive unit can adjust the opening width between the two clamping arms according to the opening degree of the first gripper, so that the opening size of the gripper matches the gap size on both sides of the target book. When inserted, the gripper remains in a gently opening state. The inner side of the two clamping arms is provided with a flexible anti-slip contact surface. The overall shape can be designed to be thin and have rounded corners to avoid scratching the book or touching adjacent books during insertion. The drive unit precisely controls the opening amplitude of the gripper according to the preset opening degree, so that the gripper can smoothly insert into the clamping gap on both sides of the target book.

[0082] After receiving the control command, the drive unit adjusts the opening of the gripper according to the predetermined first gripper opening degree, so that the distance between the gripping arms on both sides of the gripper matches the gap that has been adjusted on both sides of the target book. Then, the drive gripper smoothly extends into the left and right sides of the target book. During the entire extension process, the gripper maintains the set opening degree, moves slowly and has a stable posture, avoiding squeezing the book due to excessive opening or failing to extend smoothly due to insufficient opening, and ensuring that the gripper accurately reaches the gripping position.

[0083] S502: The gripper is driven to close by the drive unit, and the gripping force of the gripper on the target book is obtained by the force sensing unit.

[0084] In this embodiment, after the grippers extend into both sides of the target book based on the first gripper opening degree and reach the designated clamping position, the drive unit drives the grippers to slowly close according to the preset control command. During the closing process, the grippers gradually approach the two side surfaces of the target book until they make contact with the book and apply a clamping action. At the same time, the force sensing unit on the grippers collects the contact pressure signal between the grippers and the book in real time, continuously obtains the current clamping force value and feeds it back to the control unit so that the clamping force can be monitored and adjusted in the future. The force sensing unit can accurately feed back the real-time clamping force to avoid book deformation or damage due to excessive clamping force or book slippage due to insufficient clamping force.

[0085] S503: When the clamping force reaches the target clamping force, the driving unit drives the gripper to stop closing and drives the gripper to remove the target book with the target clamping force.

[0086] In this embodiment, the force sensing unit continuously feeds back the clamping force detected in real time to the control unit. When the control unit determines that the clamping force has reached the preset target clamping force, it immediately sends a command to the drive unit to stop driving the gripper to close further, so that the gripper maintains its current open and closed state and clamps the target book with a stable target clamping force. Then, the drive unit drives the gripper and the clamped target book to move smoothly in a preset direction and smoothly remove the target book from the placement position. Throughout the process, the clamping force remains constant, which not only ensures that the book is firmly clamped and does not slip, but also avoids damage to the book due to excessive clamping force, thus realizing a safe and reliable book removal operation.

[0087] As can be seen, by first controlling the grippers to extend into both sides of the book with an appropriate opening and closing degree according to the gap size, and then closing the grippers through a closed loop and collecting the clamping force in real time, the system can stop immediately when the target clamping force is reached and maintain a constant force to remove the book. This can achieve precise connection between the gripper insertion, closing clamping and book removal actions, which not only avoids damage to the book or adjacent books caused by improper opening and closing of the grippers, but also ensures that the clamping force is moderate through force sensing closed loop control. This will not cause the book to slip due to insufficient clamping force, nor will it damage the cover or inner pages due to excessive clamping force, which significantly improves the stability and stability of the book clamping and removal process.

[0088] In this embodiment, the robotic arm also includes a book material recognition module; please refer to [link / reference]. Figure 6 , Figure 6 This is a flowchart of determining a target clamping force according to an embodiment of this application, including but not limited to the following steps: S601: Determine the material density of the target book through the book material identification module.

[0089] In this embodiment, the common materials of the target book mainly include ordinary writing paper, offset paper, coated paper, hardboard and leather cover. For example, ordinary paper is soft and loose, while hardboard and leather cover are hard and dense. Therefore, different materials of the book have obvious differences in surface roughness, compression resistance and deformation characteristics.

[0090] It should be explained that ordinary writing paper and offset paper have relatively low material density and are softer, so they can withstand less clamping force. Excessive pressure can easily cause indentations, curling, or even damage. Coated paper has a slightly higher density, a smooth surface, and is more resilient, so it can withstand moderate clamping force. Hardcover books use cardboard covers with a higher material density. They are hard and not easily deformed, so they can withstand relatively large clamping forces without damage. The higher the material density, the greater the target clamping force that can usually be allowed.

[0091] In this embodiment, the material density of the target book can be determined by the book material identification module. The book material identification module can use visual recognition combined with comparison of a pre-stored database. By collecting image information of the book cover and inner pages, analyzing texture, gloss and thickness characteristics, and matching the density parameters of the corresponding book material in the database, it can also detect the hardness and compression deformation of the book surface through a contact sensing unit and indirectly calculate the corresponding material density value.

[0092] S602: The control module determines the volume of the target book based on the initial three-dimensional spatial information.

[0093] In this embodiment, the control module can extract the length, width, and thickness parameters of the book based on the initial three-dimensional spatial information. By multiplying the three values, the overall volume of the target book can be determined. This volume data can intuitively reflect the physical size of the book.

[0094] S603: Determine the weight of the target book based on the material density and the volume.

[0095] In this embodiment, the weight of the target book can be obtained by substituting the determined target book material density and book volume into the weight calculation relationship, and the weight of the target book can be obtained by multiplying the material density and volume.

[0096] S604: Determine the target clamping force based on the weight.

[0097] In this embodiment, the gripping module also includes a friction force determination unit. First, the friction force determination unit detects and determines the static friction force between the gripper and the target book. At the same time, it calculates a reference gripping force that meets the basic gripping requirements based on the weight of the book. Then, it matches the corresponding optimization factor based on the actual measured static friction force and uses the optimization factor to adjust and optimize the reference gripping force. Finally, it obtains a target gripping force that can overcome the weight of the book, ensure that it does not slip during gripping, and is compatible with the static friction force without damaging the book.

[0098] For example, the static friction force between the gripper and the target book is determined by the friction force determination unit. Specifically, the friction force determination unit can detect and calculate parameters such as the material roughness of the gripper's gripping surface, the friction coefficient of the book surface, and the contact area to obtain the maximum static friction force value that the gripper can provide between the contact surface of the target book in real time. This value directly determines the ability to achieve a stable grip by relying on friction during clamping.

[0099] For example, a reference clamping force is determined based on the weight. Specifically, the control module calculates the basic clamping force that can overcome the weight of the book and prevent the book from falling off during movement, based on the actual weight of the target book calculated previously and the minimum force required for clamping safety.

[0100] For example, an optimization factor corresponding to the static friction force is determined. Specifically, it can be a preset mapping relationship between the static friction force and the optimization factor. Based on this mapping relationship, the optimization factor corresponding to the static friction force can be determined.

[0101] For example, the reference clamping force is optimized based on the optimization factor to obtain the target clamping force. Specifically, the target clamping force is calculated as follows: Target clamping force = Reference clamping force × (1 + Optimization factor); The reference clamping force can be optimized based on the optimization factor in the manner described above to obtain the target clamping force.

[0102] As can be seen, by obtaining the material density through the book material recognition module, calculating the book volume by combining the initial three-dimensional spatial information, and then accurately obtaining the book weight, and on this basis, combining the static friction force detected by the friction force determination unit with the corresponding optimization factor to optimize and obtain the target clamping force, it is possible to achieve adaptive clamping force adjustment for different book materials, sizes, weights and surface friction characteristics. This avoids book deformation or damage due to excessive clamping force or book slippage due to insufficient clamping force, and significantly improves the safety and stability of the robotic arm's automatic book retrieval process.

[0103] Please see Figure 7 , Figure 7 This is a schematic diagram of a robot-based book gripping device according to an embodiment of this application. The robot-based book gripping device 700 can be applied to the robotic arm of a robot. The robotic arm includes a sensing module, a control module, and a gripping module. The robot-based book gripping device 700 includes: a data acquisition unit 701 and a processing unit 702. The acquisition unit 701 is used to acquire the initial three-dimensional spatial information corresponding to the target book through the sensing module; The processing unit 702 is used to determine, through the control module, a first fitting tightness value corresponding to the first side and a second fitting tightness value corresponding to the second side of the target book based on the initial three-dimensional spatial information; the first side and the second side are located on opposite sides of the target book, respectively. Determine whether both the first adhesion tightness value and the second adhesion tightness value are greater than the preset adhesion tightness value; If so, the control module determines the opening degree of the first gripper corresponding to the gripping module based on the initial three-dimensional spatial information, and the gripping module grips the target book based on the opening degree of the first gripper. If not, the control module determines a first movement operation and a second movement operation based on the first and second fit tightness values. The first movement operation is performed before the second movement operation. The first movement operation is used to move the target book to the side with a smaller fit tightness value, and the second movement operation is used to move the target book in the opposite direction, so that the clamping gap on the first side and the clamping gap on the second side are both not less than a preset thickness. The clamping module moves the target book based on the first and second movement operations, and the sensing module acquires the three-dimensional spatial information of the target book after movement. The control module determines the opening degree of the second gripper corresponding to the clamping module based on the three-dimensional spatial information after movement, and then the clamping module clamps the target book based on the opening degree of the second gripper. The third fit tightness value corresponding to the first side and the fourth fit tightness value corresponding to the second side, determined based on the three-dimensional spatial information after movement, are both greater than the preset fit tightness value.

[0104] In some possible implementations, in determining the first fit tightness value corresponding to the first side and the second fit tightness value corresponding to the second side of the target book based on the initial three-dimensional spatial information, the processing unit 702 is specifically used for: Based on the initial three-dimensional spatial information, the bonding distance and gap size between the target book and the first book are determined to obtain the first bonding distance and the first gap size; the first book is the book adjacent to the first side. A first reference bonding tightness value corresponding to the first side is determined based on the first bonding spacing; Determine the first adjustment parameter corresponding to the first gap size; The first reference fit tightness value is adjusted based on the first adjustment parameter to obtain the first fit tightness value; Based on the initial three-dimensional spatial information, the bonding distance and gap size between the target book and the second book are determined to obtain the second bonding distance and the second gap size; the second book is the book adjacent to the second side. A second reference bonding tightness value corresponding to the second side is determined based on the second bonding spacing; Determine the second adjustment parameter corresponding to the second gap size; The second reference fit tightness value is adjusted based on the second adjustment parameter to obtain the second fit tightness value.

[0105] In some possible implementations, in determining the first movement operation and the second movement operation based on the first adhesion tightness value and the second adhesion tightness value, the processing unit 702 is specifically configured to: When the first fit tightness value is greater than the second fit tightness value, the first movement direction corresponding to the first movement operation is determined to be from the first side to the second side, and the second movement direction corresponding to the second movement operation is from the second side to the first side; A first moving distance is determined based on the first bonding spacing and the preset thickness; the first moving distance is not less than the difference between twice the preset thickness and the first bonding spacing; The first movement operation is determined based on the first movement distance and the first movement direction; The second moving distance is determined based on the preset thickness; the second moving distance is not less than the preset thickness. The second movement operation is determined based on the second movement direction and the second movement distance.

[0106] In some possible implementations, in determining the first movement operation and the second movement operation based on the first adhesion tightness value and the second adhesion tightness value, the processing unit 702 is specifically configured to: When the first fit tightness value is less than or equal to the second fit tightness value, the first movement direction corresponding to the first movement operation is determined to be from the second side to the first side, and the second movement direction corresponding to the second movement operation is from the first side to the second side. The first moving distance is determined based on the second bonding spacing and the preset thickness; the first moving distance is not less than the difference between twice the preset thickness and the second bonding spacing; The first movement operation is determined based on the first movement distance and the first movement direction; The second moving distance is determined based on the preset thickness; the second moving distance is not less than the preset thickness. The second movement operation is determined based on the second movement direction and the second movement distance.

[0107] In some possible implementations, the gripping module includes grippers, a drive unit, and a force sensing unit; in gripping the target book based on the opening degree of the first gripper using the gripping module, the processing unit 702 is specifically used for: The drive unit drives the grippers to extend into both sides of the target book based on the opening degree of the first gripper. The gripper is driven to close by the drive unit, and the gripping force of the gripper on the target book is obtained by the force sensing unit. When the clamping force reaches the target clamping force, the driving unit drives the gripper to stop closing and drives the gripper to remove the target book with the target clamping force.

[0108] In some possible implementations, the robotic arm further includes a book material recognition module; the processing unit 702 is also specifically used for: The material density of the target book is determined by the book material recognition module; The control module determines the volume of the target book based on the initial three-dimensional spatial information. The weight of the target book is determined based on the material density and the volume. The target clamping force is determined based on the weight.

[0109] In some possible implementations, the gripping module further includes a friction force determination unit; in determining the target gripping force based on the weight, the processing unit 702 is specifically used for: The static friction force between the gripper and the target book is determined by the friction force determination unit. A reference clamping force is determined based on the weight; Determine the optimization factor corresponding to the static friction force; The reference clamping force is optimized based on the optimization factor to obtain the target clamping force.

[0110] Please see Figure 8 , Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device 800 can be applied to the robotic arm of a robot, the robotic arm including a sensing module, a control module, and a gripping module; as shown... Figure 8 As shown, the electronic device 800 includes a transceiver 801, a processor 802, and a memory 803. These are connected via a bus 804. The memory 803 stores computer programs and data, and the transceiver 801 can transmit data stored in the memory 803 to the processor 802. The program includes instructions for performing the following steps: The initial three-dimensional spatial information corresponding to the target book is acquired through the sensing module. The control module determines a first fit tightness value corresponding to the first side and a second fit tightness value corresponding to the second side of the target book based on the initial three-dimensional spatial information; the first side and the second side are located on opposite sides of the target book, respectively. Determine whether both the first adhesion tightness value and the second adhesion tightness value are greater than the preset adhesion tightness value; If so, the control module determines the opening degree of the first gripper corresponding to the gripping module based on the initial three-dimensional spatial information, and the gripping module grips the target book based on the opening degree of the first gripper. If not, the control module determines a first movement operation and a second movement operation based on the first and second fit tightness values. The first movement operation is performed before the second movement operation. The first movement operation is used to move the target book to the side with a smaller fit tightness value, and the second movement operation is used to move the target book in the opposite direction, so that the clamping gap on the first side and the clamping gap on the second side are both not less than a preset thickness. The clamping module moves the target book based on the first and second movement operations, and the sensing module acquires the three-dimensional spatial information of the target book after movement. The control module determines the opening degree of the second gripper corresponding to the clamping module based on the three-dimensional spatial information after movement, and then the clamping module clamps the target book based on the opening degree of the second gripper. The third fit tightness value corresponding to the first side and the fourth fit tightness value corresponding to the second side, determined based on the three-dimensional spatial information after movement, are both greater than the preset fit tightness value.

[0111] In some possible implementations, the above procedure includes instructions for performing the following steps in determining a first fit tightness value corresponding to a first side and a second fit tightness value corresponding to a second side of the target book based on the initial three-dimensional spatial information: Based on the initial three-dimensional spatial information, the bonding distance and gap size between the target book and the first book are determined to obtain the first bonding distance and the first gap size; the first book is the book adjacent to the first side. A first reference bonding tightness value corresponding to the first side is determined based on the first bonding spacing; Determine the first adjustment parameter corresponding to the first gap size; The first reference fit tightness value is adjusted based on the first adjustment parameter to obtain the first fit tightness value; Based on the initial three-dimensional spatial information, the bonding distance and gap size between the target book and the second book are determined to obtain the second bonding distance and the second gap size; the second book is the book adjacent to the second side. A second reference bonding tightness value corresponding to the second side is determined based on the second bonding spacing; Determine the second adjustment parameter corresponding to the second gap size; The second reference fit tightness value is adjusted based on the second adjustment parameter to obtain the second fit tightness value.

[0112] In some possible implementations, in determining the first and second movement operations based on the first and second adhesion tightness values, the above procedure includes instructions for performing the following steps: When the first fit tightness value is greater than the second fit tightness value, the first movement direction corresponding to the first movement operation is determined to be from the first side to the second side, and the second movement direction corresponding to the second movement operation is from the second side to the first side; A first moving distance is determined based on the first bonding spacing and the preset thickness; the first moving distance is not less than the difference between twice the preset thickness and the first bonding spacing; The first movement operation is determined based on the first movement distance and the first movement direction; The second moving distance is determined based on the preset thickness; the second moving distance is not less than the preset thickness. The second movement operation is determined based on the second movement direction and the second movement distance.

[0113] In some possible implementations, in determining the first and second movement operations based on the first and second adhesion tightness values, the above procedure includes instructions for performing the following steps: When the first fit tightness value is less than or equal to the second fit tightness value, the first movement direction corresponding to the first movement operation is determined to be from the second side to the first side, and the second movement direction corresponding to the second movement operation is from the first side to the second side. The first moving distance is determined based on the second bonding spacing and the preset thickness; the first moving distance is not less than the difference between twice the preset thickness and the second bonding spacing; The first movement operation is determined based on the first movement distance and the first movement direction; The second moving distance is determined based on the preset thickness; the second moving distance is not less than the preset thickness. The second movement operation is determined based on the second movement direction and the second movement distance.

[0114] In some possible implementations, the gripping module includes grippers, a drive unit, and a force sensing unit; in gripping the target book by the gripping module based on the opening degree of the first gripper, the above procedure includes instructions for performing the following steps: The drive unit drives the grippers to extend into both sides of the target book based on the opening degree of the first gripper. The gripper is driven to close by the drive unit, and the gripping force of the gripper on the target book is obtained by the force sensing unit. When the clamping force reaches the target clamping force, the driving unit drives the gripper to stop closing and drives the gripper to remove the target book with the target clamping force.

[0115] In some possible implementations, the robotic arm further includes a book material recognition module; the above program includes instructions for performing the following steps: The material density of the target book is determined by the book material recognition module; The control module determines the volume of the target book based on the initial three-dimensional spatial information. The weight of the target book is determined based on the material density and the volume. The target clamping force is determined based on the weight.

[0116] In some possible implementations, the gripping module further includes a friction force determination unit; in determining the target gripping force based on the weight, the above procedure includes instructions for performing the following steps: The static friction force between the gripper and the target book is determined by the friction force determination unit. A reference clamping force is determined based on the weight; Determine the optimization factor corresponding to the static friction force; The reference clamping force is optimized based on the optimization factor to obtain the target clamping force.

[0117] It should be understood that the electronic devices mentioned in this application may include smartphones (such as Android phones, iOS phones, Windows Phones, etc.), tablets, PDAs, laptops, mobile internet devices (MIDs) or wearable devices, servers, edge computing nodes, etc. The above-mentioned electronic devices are merely examples and not exhaustive, and include, but are not limited to, the electronic devices described above.

[0118] This application also provides a computer-readable storage medium storing a computer program that is executed by a processor to implement some or all of the steps of any of the methods described in the above method embodiments.

[0119] This application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments.

[0120] It should be noted that, for the sake of simplicity, the aforementioned methods are described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are optional, and the actions and modules involved are not necessarily essential to this application.

[0121] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0122] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical or other forms.

[0123] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0124] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software program module.

[0125] If the integrated unit is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0126] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage device, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0127] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The above description of the embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A robot-based book-holding method, characterized in that, The method is applied to the robotic arm of a robot, and the method includes: The robotic arm acquires the initial three-dimensional spatial information corresponding to the target book; Based on the initial three-dimensional spatial information, a first fitting tightness value corresponding to the first side and a second fitting tightness value corresponding to the second side of the target book are determined; the first side and the second side are respectively located on opposite sides of the target book; Determine whether both the first adhesion tightness value and the second adhesion tightness value are greater than the preset adhesion tightness value; If so, the opening degree of the first gripper corresponding to the gripping module is determined based on the initial three-dimensional spatial information, and the target book is gripped based on the opening degree of the first gripper; If not, a first moving operation and a second moving operation are determined based on the first and second fitting tightness values; the first moving operation is performed before the second moving operation, the first moving operation is used to move the target book to the side with a smaller fitting tightness value, and the second moving operation is used to move the target book in the opposite direction, so that the clamping gap on the first side and the clamping gap on the second side are both not less than a preset thickness. The target book is moved based on the first and second moving operations, and then the three-dimensional spatial information of the target book after the movement is obtained. The opening degree of the second gripper is determined based on the three-dimensional spatial information after the movement, and then the target book is gripped based on the opening degree of the second gripper. The third fitting tightness value corresponding to the first side and the fourth fitting tightness value corresponding to the second side, determined based on the three-dimensional spatial information after the movement, are both greater than the preset fitting tightness value.

2. The method as described in claim 1, characterized in that, The step of determining the first fit tightness value corresponding to the first side and the second fit tightness value corresponding to the second side of the target book based on the initial three-dimensional spatial information includes: Based on the initial three-dimensional spatial information, the bonding distance and gap size between the target book and the first book are determined to obtain the first bonding distance and the first gap size; the first book is the book adjacent to the first side. A first reference bonding tightness value corresponding to the first side is determined based on the first bonding spacing; Determine the first adjustment parameter corresponding to the first gap size; The first reference fit tightness value is adjusted based on the first adjustment parameter to obtain the first fit tightness value; Based on the initial three-dimensional spatial information, the bonding distance and gap size between the target book and the second book are determined to obtain the second bonding distance and the second gap size; the second book is the book adjacent to the second side. The second reference bonding tightness value corresponding to the second side is determined based on the second bonding spacing; Determine the second adjustment parameter corresponding to the second gap size; The second reference fit tightness value is adjusted based on the second adjustment parameter to obtain the second fit tightness value.

3. The method as described in claim 2, characterized in that, The determination of the first and second movement operations based on the first and second adhesion tightness values ​​includes: When the first fit tightness value is greater than the second fit tightness value, the first movement direction corresponding to the first movement operation is determined to be from the first side to the second side, and the second movement direction corresponding to the second movement operation is from the second side to the first side; A first moving distance is determined based on the first bonding spacing and the preset thickness; the first moving distance is not less than the difference between twice the preset thickness and the first bonding spacing; The first movement operation is determined based on the first movement distance and the first movement direction; The second moving distance is determined based on the preset thickness; the second moving distance is not less than the preset thickness. The second movement operation is determined based on the second movement direction and the second movement distance.

4. The method as described in claim 3, characterized in that, The determination of the first and second movement operations based on the first and second adhesion tightness values ​​includes: When the first fit tightness value is less than or equal to the second fit tightness value, the first movement direction corresponding to the first movement operation is determined to be from the second side to the first side, and the second movement direction corresponding to the second movement operation is from the first side to the second side. The first moving distance is determined based on the second bonding spacing and the preset thickness; the first moving distance is not less than the difference between twice the preset thickness and the second bonding spacing; The first movement operation is determined based on the first movement distance and the first movement direction; The second moving distance is determined based on the preset thickness; the second moving distance is not less than the preset thickness. The second movement operation is determined based on the second movement direction and the second movement distance.

5. The method as described in claim 1, characterized in that, The gripping module of the robotic arm includes a gripper, a drive unit, and a force sensing unit; Grasping the target book based on the opening and closing degree of the first gripper includes: The drive unit drives the grippers to extend into both sides of the target book based on the opening degree of the first gripper. The gripper is driven to close by the drive unit, and the gripping force of the gripper on the target book is obtained by the force sensing unit. When the clamping force reaches the target clamping force, the driving unit drives the gripper to stop closing and drives the gripper to remove the target book with the target clamping force.

6. The method as described in claim 5, characterized in that, The method further includes: Determine the material density of the target book; The volume of the target book is determined based on the initial three-dimensional spatial information; The weight of the target book is determined based on the material density and the volume. The target clamping force is determined based on the weight.

7. The method as described in claim 6, characterized in that, Determining the target clamping force based on the weight includes: Determine the static friction force between the gripper and the target book; A reference clamping force is determined based on the weight; Determine the optimization factor corresponding to the static friction force; The reference clamping force is optimized based on the optimization factor to obtain the target clamping force.

8. A robotic arm for a robot, characterized in that, The robotic arm includes a sensing module, a control module, and a gripping module; The sensing module is used to collect the initial three-dimensional spatial information corresponding to the target book; The control module is used to determine, based on the initial three-dimensional spatial information, a first fitting tightness value corresponding to a first side of the target book and a second fitting tightness value corresponding to a second side; the first side and the second side are located on opposite sides of the target book, respectively. Determine whether both the first adhesion tightness value and the second adhesion tightness value are greater than the preset adhesion tightness value; If so, the opening degree of the first gripper corresponding to the gripping module is determined based on the initial three-dimensional spatial information, and the gripping module is used to grip the target book based on the opening degree of the first gripper; If not, a first moving operation and a second moving operation are determined based on the first and second fitting tightness values; the first moving operation is performed before the second moving operation, the first moving operation is used to move the target book to the side with a smaller fitting tightness value, and the second moving operation is used to move the target book in the opposite direction, so that the clamping gap on the first side and the clamping gap on the second side are both not less than a preset thickness. The gripping module is also used to move the target book based on the first movement operation and the second movement operation. The sensing module is also used to acquire the three-dimensional spatial information of the target book after it has been moved. The control module is also used to determine the opening degree of the second gripper corresponding to the gripping module based on the three-dimensional spatial information after the movement; The gripping module is also used to grip the target book based on the opening degree of the second gripper; the third fitting tightness value corresponding to the first side and the fourth fitting tightness value corresponding to the second side, determined based on the three-dimensional spatial information after the movement, are both greater than the preset fitting tightness value.

9. A robot, characterized in that, The method includes a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the one or more programs include instructions for performing the steps of the method according to any one of claims 1-7.

10. A computer-readable storage medium or computer program product, characterized in that, The computer-readable storage medium stores a computer program that is executed by a processor to implement the method as described in any one of claims 1-7; or, the computer program product includes a computer program that is executed by a processor to implement the method as described in any one of claims 1-7.

Images