ROBOT FOR GRIPPING AN OBJECT USING DUAL FINGERS AND OBJECT GRIP METHOD THEREOF

Smart overview of the Invention

The patent application describes a robot equipped with dual fingers designed to grip objects using advanced imaging and light technology. Each finger includes a contact part, light emitter, camera, and a polarization filter. These components work together to detect objects and control the gripping action. The polarization filters are configured to pass light polarized in perpendicular directions based on applied voltage, allowing precise detection of an object's presence and position.

Components and Configuration

The robot's fingers are equipped with contact parts made of gel containing markers, which are covered by transparent or semi-transparent coating layers. Light emitters direct light towards these contact parts, while cameras capture images to detect object presence. Polarization filters between the emitters and contact parts help control the light passing through, aiding in accurate image capture. A driver moves the fingers, and a processor coordinates all components to ensure effective gripping.

Image Processing and Object Detection

The processor obtains images from the cameras by controlling the activation states of the light emitters and polarization filters. It identifies objects positioned between the contact parts based on these images. Once an object is detected, the processor calculates distances between each contact part and the object, ensuring that these distances remain within a pre-set range to maintain a secure grip.

Operational Methodology

The robot operates by alternating activation states of its components to optimize object detection and gripping. When detecting an object, it deactivates unnecessary emitters and filters, then reactivates them as needed for precise measurement. If no object is detected initially, it adjusts activation states to improve detection accuracy. The processor uses marker positions in images to confirm contact with the object before commanding the fingers to grip it.

Advanced Control Features

The robot's processor is capable of fine-tuning its operations based on real-time feedback from its sensors. It can deactivate emitters temporarily when necessary and vary activation durations for efficient power use. This adaptability ensures that the robot maintains optimal performance while gripping objects, even adjusting its actions based on whether an object is initially detected or not.