WO2024039083A1

WO2024039083A1 - Automatic cargo unloading method and automatic cargo unloading machine for unloading cargo in cargo box

Info

Publication number: WO2024039083A1
Application number: PCT/KR2023/010297
Authority: WO
Inventors: 정병진; 박종삼; 정병택
Original assignee: 주식회사 에스티씨엔지니어링
Priority date: 2022-08-19
Filing date: 2023-07-18
Publication date: 2024-02-22
Also published as: KR20240026377A

Abstract

Disclosed are an automatic cargo unloading method and an automatic cargo unloading machine for unloading cargo in a cargo box. The disclosed automatic cargo unloading method, according to an embodiment, is a method performed by the automatic cargo unloading machine comprising one or more processors and a memory storing one or more programs that are executed by the one or more processors, the method comprising the steps of: obtaining a loaded cargo image obtained by photographing the inside of a cargo box loaded with cargo; identifying, on the basis of the loaded cargo image, loaded cargo-related information including one or more of a location of cargo to be unloaded, a type of cargo, and a loading pattern of cargo in the cargo box; and unloading the loaded cargo on the basis of the loaded cargo-related information.

Description

Automated cargo unloading method and automated cargo unloading machine for unloading cargo in a loading box

Embodiments of the present invention relate to cargo unloading automation technology. The present invention is a project of the Ministry of Trade, Industry and Energy's robot industry core technology development project - pan-ministerial cooperation robot product technology (task number: 1415168943, detailed task number: 20009109, research project name: Development of a trunk cargo logistics transport vehicle unloading work system using robots , Host organization: STC Engineering Co., Ltd., Research period: 2020.05.01 ~ 2024.12.31).

Over the past three years, delivery volume has increased by 10-13% every year, but the average delivery price has been falling by 2-3% every year, making automation in the logistics industry very important to maintain the competitiveness of companies. Currently, a significant portion of the courier process is automated within logistics centers using equipment such as belt sorters, but the unloading process of unloading various courier cargoes from vehicle loading boxes relies on manual labor.

In addition, in order to handle the nationwide daily demand for parcel delivery, mainline cargo trucks at hub terminals usually load about 2,000 pieces of cargo each and require two workers to unload them all within one hour. This is the most intense work among the many tasks at the courier hub terminal, making it a task that workers avoid. Therefore, there is a need for the development of a robot system that can automate the unloading of trunk cargo trucks.

The purpose of the present invention is to provide an automatic cargo unloading method and an automatic cargo unloading machine for unloading cargo in a cargo box that can recognize and automatically unload cargo in a cargo box.

Meanwhile, the technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly apparent to those skilled in the art from the description below. It will be understandable.

A method for automating cargo unloading according to an embodiment of the present invention is a method performed in a cargo unloading automation machine including one or more processors and a memory for storing one or more programs executed by the one or more processors, Obtaining an image of the loaded cargo captured inside the cargo box where the cargo is loaded; Confirming loaded cargo-related information including one or more of the location of cargo to be unloaded, the type of cargo, and the loading pattern of cargo in the loading box based on the image of the loaded cargo; and unloading the loaded cargo based on the loaded cargo-related information.

The step of unloading the loaded cargo includes allowing the automated cargo unloading machine to enter the inside of the loading box, and the step of allowing the automated cargo unloading machine to enter the inside of the loading box includes the step of entering the loaded cargo through a height step sensor provided in the automated cargo unloading machine. Checking the change in height of the floor surface where the unloading automated machine enters; And it may include the step of entering the inside of the loading box by adjusting the height of the endless track provided in the automated cargo unloading machine according to the change in height step.

The automated cargo unloading machine includes a plurality of endless tracks provided in a lower portion of the automated cargo unloading machine and spaced apart from each other, and the step of entering the inside of the loading box is located at the frontmost position in the direction of movement of the automated cargo unloading machine. adjusting the height of the crawler track to correspond to the change in height step; and moving forward through a crawler track other than the frontmost tracker so that the frontmost tracker enters and settles in the loading box.

The automated cargo unloading machine further includes a moving distance measuring sensor provided to measure the distance traveled by each crawler, and the forward movement of the other crawler tracks is determined by determining the forward movement of the other crawler tracks with the first crawler track and the next one. This can be done based on the distance between the infinite orbits and the distance measured by the moving distance measurement sensor.

In the step of entering the inside of the loading box, the height of the other crawler tracks is sequentially adjusted to correspond to the change in height step, and the inside of the loading box can be entered by moving forward through another crawler track other than the height-adjusted track. there is.

The step of unloading the loaded cargo includes entering the automated cargo unloading machine into the loading box; and a pair of robot arm devices provided in the automated cargo unloading machine unload the loaded cargo while preventing it from colliding with one or more of the inner wall of the loading box, the loaded cargo, and the main body frame of the automated cargo unloading machine. It may include a step of ordering.

The step of unloading the loaded cargo includes preventing the pair of robot arm devices from colliding with the loaded cargo through a first anti-collision sensor provided at the front end of the pair of robot arm devices; Preventing the pair of robot arm devices from colliding with the inner wall of the loading box through a second anti-collision sensor provided on a side of the pair of robot arm devices; and preventing the pair of robot arm devices from colliding with a main body frame portion provided at the rear of the pair of robot arm devices through a third anti-collision sensor provided at the rear end of the pair of robot arm devices. may include.

The method of automating cargo unloading includes checking whether a caution label is attached to the cargo through the image of the loaded cargo; And if the precautions label is attached, the step of analyzing the precautions label to check the type of precautions may be further included.

The cargo unloading automation method includes the steps of assigning a cargo caution classification index to the cargo according to the precaution type; And it may further include unloading the corresponding cargo from the loading box based on the cargo attention classification index.

The step of unloading the loaded cargo includes entering the automated cargo unloading machine into the loading box; And it may include vertically folding at least one of both sides of the first conveyor unit provided in the automated cargo unloading machine downward according to preset conditions.

The folding step includes checking whether a worker entry alarm occurs when the automated cargo unloading machine enters the loading box; When the worker entry alarm occurs, detecting a gap between the automated cargo unloading machine and the inner wall of the loading box through a gap detection sensor provided in the automated cargo unloading machine; And when the detected gap is less than a preset operator entry width, it may include vertically folding at least one of both sides of the first conveyor unit downward.

According to an embodiment of the present invention, the automatic cargo unloading machine includes a pair of robot arm devices capable of multi-axis rotation and movement, and the robot arm device includes an unloading conveyor belt, suction means, and clamp means, so that the loaded cargo is Depending on the location, loading pattern, and type of cargo, it operates in various unloading modes such as down sweep mode, side sweep mode, adsorption mode, and clamping mode, making loading cargo easy and quick. You can get off easily.

In addition, by providing a conveyor device between the pair of robot arm devices, cargo unloaded through the pair of robot arm devices can be quickly transported rearward through the conveyor device.

In addition, the automatic cargo unloading machine can easily enter the inside of the loading box through the height-adjusted crawler even if there is a height difference between the dock and the loading box of the cargo vehicle.

Meanwhile, the effects that can be obtained from the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below. You will be able to.

1 and 2 are front and rear perspective views showing an automated cargo unloading machine according to an embodiment of the present invention;

Figure 3 is a diagram showing a state in which an automated cargo unloading machine enters the inside of a loading box and unloads cargo according to an embodiment of the present invention;

Figure 4 is a perspective view showing a robot arm device according to an embodiment of the present invention;

Figure 5 is a diagram showing each axis portion in the arm unit of the robot arm device according to an embodiment of the present invention;

Figures 6 and 7 are perspective views showing one side and the other side of a hand unit according to an embodiment of the present invention;

Figures 8a and 8b are diagrams showing a state in which the suction pad part is moved forward in one embodiment of the present invention;

9A and 9B are diagrams showing a state in which the clamping part is moved forward in one embodiment of the present invention;

10 to 16 are diagrams showing the operation of an automated cargo unloading machine to unload loaded cargo from a loading box according to an embodiment of the present invention;

Figure 17 is a perspective view showing a conveyor device in an automated cargo unloading machine according to an embodiment of the present invention;

Figure 18 is a plan view showing a conveyor device in an automated cargo unloading machine according to an embodiment of the present invention;

Figure 19 is a diagram showing the transport direction of cargo in a conveyor device according to an embodiment of the present invention;

20A and 20B are diagrams showing a state in which the first side portion of the conveyor device is folded downward in one embodiment of the present invention;

Figure 21 is a diagram showing the state in which the automated cargo unloading machine enters the loading box according to an embodiment of the present invention;

Figure 22 is a diagram showing a height adjustment unit according to an embodiment of the present invention;

Figure 23 is a diagram showing the height-adjusted state of the endless track in the automated cargo unloading machine according to an embodiment of the present invention;

Figures 24a to 24c are diagrams schematically showing the state in which the automated cargo unloading machine enters the inside of the loading box of a cargo vehicle according to an embodiment of the present invention;

Figure 25 is a diagram showing a state in which the width direction spacing of a crawler track is adjusted according to an embodiment of the present invention;

Figure 26 is a flowchart showing a cargo unloading method using an automated cargo unloading machine according to an embodiment of the present invention;

Figure 27 is a diagram showing collision prevention of the robot arm device when the automated cargo unloading machine operates within a loading box according to an embodiment of the present invention;

Figure 28 is a diagram showing a state in which a caution label is attached to cargo in one embodiment of the present invention;

FIG. 29 is a block diagram illustrating and illustrating a computing environment including a computing device suitable for use in example embodiments.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the attached drawings. Embodiments of the present invention may be modified in various forms, and the scope of the present invention should not be construed as being limited to the following embodiments. This example is provided to more completely explain the present invention to those skilled in the art. Therefore, the shapes of elements in the drawings are exaggerated to emphasize clearer explanation.

The configuration of the invention to clarify the solution to the problem to be solved by the present invention will be described in detail with reference to the accompanying drawings based on preferred embodiments of the present invention, and the reference numbers to the components in the drawings will be the same. Components are given the same reference numbers even if they are in different drawings, and it is stated in advance that components of other drawings can be cited when necessary when explaining the relevant drawings.

Meanwhile, directional terms such as upper side, lower side, one side, other side, etc. are used in relation to the orientation of the disclosed drawings. Since components of embodiments of the present invention may be positioned in various orientations, the terminology of orientation is used for illustrative purposes and is not limiting.

1 and 2 are front and rear perspective views showing an automated cargo unloading machine according to an embodiment of the present invention.

1 and 2, the automated cargo unloading machine 100 may include a robotic arm device 102, a conveyor device 104, a track device 106, and a body frame 108.

The automated cargo unloading machine 100 is used to unload or transport cargo (hereinafter referred to as loaded cargo) loaded in the loading box 50. Here, the loading box 50 may be a loading box mounted on a cargo vehicle (for example, a trunk truck, etc.) or a container. The automated cargo unloading machine 100 may unload the loaded cargo in the loading box at the entrance of the loading box 50, or, as shown in FIG. 3, may enter the inside of the loading box 50 and unload the loaded cargo in the loading box. there is.

In addition, the cargo unloading automation machine 100 recognizes the loading pattern of the cargo, the loading location of the cargo, the type of cargo, etc., and various sensor equipment (for example, a vision sensor or a lidar) to determine the unloading mode of the cargo accordingly. (Lidar) or vision and Lidar fusion sensors, scanners, etc.).

The robotic arm device 102 may be provided on both sides of the main body frame 108. That is, the robot arm device 102 may be provided as a pair on both sides of the main body frame 108. The robotic arm device 102 can operate as a pair like a human arm to unload various types of cargo, such as boxes, plastic pouches, and gunny bags piled in bulk in a loading box. The robot arm device 102 can unload the loaded cargo in the loading box toward the conveyor device 104.

Conveyor device 104 may be mounted on body frame 108. Conveyor device 104 may be supported by body frame 108 . The conveyor device 104 may be provided along the longitudinal direction of the robot arm device 102 in the main body frame 108. The conveyor device 104 may serve to transport the loaded cargo unloaded by the robot arm device 102 to the rear of the main body frame 108.

The conveyor device 104 may operate in conjunction with the robot arm device 102. The front end of the conveyor device 104 may be provided to have its height adjusted according to the operation of the robot arm device 102. At this time, the front end of the conveyor device 104 may be height adjusted according to the height of the loaded cargo to be unloaded by the robot arm device 102.

The track device 106 may be provided at the lower part of the main body frame 108. The track device 106 may serve to move the automated cargo unloading machine 100. That is, the track device 106 can move the cargo unloading automation machine 100 to the entrance of the loading box or allow it to enter the inside of the loading box. Here, the moving means for moving the automated cargo unloading machine 100 is shown as a track device 106, but the moving means is not limited thereto, and wheel-type moving means may also be included.

The main body frame 108 may serve to support the automated cargo unloading machine 100. The main body frame 108 can be provided in various forms capable of supporting the automated cargo unloading machine 100, and its form is not limited. The body frame 108 may be provided to support the robotic arm device 102. The body frame 108 may be provided to support the conveyor device 104. Additionally, the body frame 108 may be connected to the orbital device 106 at the top of the orbital device 106.

The main body frame 108 may be equipped with an electrical box 108a that provides power to the automated cargo unloading machine 100 and includes circuit devices that control the operation of the automated cargo unloading machine 100. Additionally, the body frame 108 may be equipped with a hydraulic tank 108b for providing hydraulic pressure to one or more of the robot arm device 102 and the track device 106. Additionally, the main body frame 108 may be equipped with one or more monitors 108c to check the operation of the automated cargo unloading machine 100.

FIG. 4 is a perspective view showing the robot arm device 102 according to an embodiment of the present invention, and FIG. 5 is a view showing each axis portion of the arm unit of the robot arm device 102 according to an embodiment of the present invention.

Referring to FIGS. 4 and 5 , the robotic arm device 102 may include an arm unit 111 and a hand unit 113.

The robot arm device 102 may be operated in an unloading mode determined based on one or more of the loading pattern of cargo in the cargo bin, the loading location of cargo, and the type of cargo. The unloading mode is an operation mode for unloading cargo in a loading box. For example, the unloading mode may include a down sweep mode, side sweep mode, adsorption mode, and clamping mode.

The arm unit 111 may be mounted on both sides of the main body frame 108. The arm unit 111 may be provided to enable multi-axis rotation. Additionally, the arm unit 111 may be provided to enable forward and backward movement. The arm unit 111 may be provided to simultaneously perform multi-axis rotation and forward or backward movement.

In an exemplary embodiment, the arm unit 111 may be provided to have a six-axis degree of freedom. The arm unit 111 includes a first shaft portion (111-1), a second shaft portion (111-2), a third shaft portion (111-3), a fourth shaft portion (111-4), and a fifth shaft portion (111-5). , and may include a sixth shaft portion 111-6.

The first shaft portion 111-1 may be mounted on the main body frame 108. The first shaft portion 111-1 may be provided to be rotatable in the first direction 1. The second shaft portion 111-2 may be connected to the first shaft portion 111-1. The second shaft portion 111-2 may be provided to be rotatable in the second direction 2. The third shaft portion 111-3 may be connected to the second shaft portion 111-2. The third shaft portion 111-3 may be provided to move forward and backward along the third direction 3.

The fourth shaft portion 111-4 may be connected to the third shaft portion 111-3. The fourth shaft portion 111-4 may be provided to be rotatable in the fourth direction 4. The fifth shaft portion 111-5 may be connected to the fourth shaft portion 111-4. The fifth shaft portion 111-5 may be provided to be rotatable in the fifth direction 5. The sixth shaft portion 111-6 may be connected to the fifth shaft portion 111-5. The sixth shaft portion 111-6 may be provided to be rotatable in the sixth direction 6. Here, the first to sixth directions 1 to 6 may be different directions. In this case, the arm unit 111 can move forward and backward while rotating in five axis directions.

The hand unit 113 may be provided connected to the end of the arm unit 111. The hand unit 113 is a part that comes into contact with the loaded cargo and unloads the loaded cargo toward the conveyor device 104. The hand unit 113 may be provided connected to the sixth shaft portion 111-6. As the hand unit 113 is connected to the arm unit 111, the hand unit 113 moves forward and backward while rotating in five axes directions with the arm unit 111 according to the operation of the arm unit 111. It becomes possible. In this way, the robot arm device 102 is provided with 6-axis degrees of freedom, making it possible to unload loaded cargo by covering the entire range within the loading box.

Figures 6 and 7 are perspective views showing one side and the other side of the hand unit 113 according to an embodiment of the present invention. The hand unit 113 may include a conveyor belt 121, suction means 123, and clamp means 125.

An unloading conveyor belt 121 may be mounted on one side of the hand unit 113. When comparing the robotic arm device 102 to a human arm, one side of the hand unit 113 can be compared to a palm. The unloading conveyor belt 121 may be provided along the longitudinal direction of the arm unit 111. The unloading conveyor belt 121 may be provided to rotate in a certain direction. For example, the unloading conveyor belt 121 may be provided in a loop shape to rotate circularly.

The unloading conveyor belt 121 may be provided to rotate toward the main body frame 108 (i.e., inward). That is, the unloading conveyor belt 121 of each hand unit 113 in the pair of robot arm devices 102 may be provided to rotate toward the main body frame 108.

As the pair of unloading conveyor belts 121 rotate toward the main body frame 108, the loaded cargo in contact with the pair of unloading conveyor belts 121 between the pair of unloading conveyor belts 121 is moved to the main body frame ( As it is swept down in the direction 108), it is unloaded toward the conveyor device 104. That is, the unloading conveyor belt 121 is used in a sweep mode, and can be used when the unloading mode of the robot arm device 102 is a down sweep mode or a side sweep mode.

An uneven pattern portion 121a may be formed on the surface of the unloading conveyor belt 121 to increase friction with the loaded cargo when sweeping the loaded cargo. The uneven pattern portion 121a may be provided in a form that protrudes from the surface of the unloading conveyor belt 121, but is not limited to this. A plurality of uneven pattern portions 121a may be provided at regular intervals along the longitudinal direction of the unloading conveyor belt 121.

Suction means 123 and clamp means 125 may be provided on the other side of the hand unit 113, respectively. When comparing the robotic arm device 102 to a human arm, the other side of the hand unit 113 can be compared to the back of the hand. On the other side of the hand unit 113, the suction means 123 and the clamp means 125 may be arranged up and down, respectively. The suction means 123 and the clamp means 125 may each be provided along the longitudinal direction of the hand unit 113.

In an exemplary embodiment, the suction means 123 and the clamp means 125 may be mounted on the hand unit 113 via a hand bracket 127. Both sides of the hand bracket 127 may be fixed to both sides of the unloading conveyor belt 121. The hand bracket 127 may be provided between the unloading conveyor belt 121, the suction means 123, and the clamp means 125.

The adsorption means 123 may serve to adsorb and unload the loaded cargo in the loading box. That is, the suction means 123 can be used when the dismount mode of the robot arm device 102 is the suction mode. For example, the suction means 123 may be provided to move forward and backward along the longitudinal direction of the hand unit 113. The adsorption means 123 may include an adsorption pad unit 123a and an adsorption driver unit 123b.

The adsorption pad portion 123a is a part that adsorbs the loaded cargo. A plurality of suction pad units 123a may be provided. One end of each of the plurality of suction pad parts 123a may be fixed to the mounting plate 123a-2. The mounting plate 123a-2 may be connected to the adsorption driver 123b. Here, it is shown that a plurality of suction pad units 123a are provided, but the present invention is not limited thereto.

A suction cup 123a-1 for vacuum suction of loaded cargo may be provided at the end of the suction pad portion 123a. The suction cup 123a-1 may be provided in a bellows shape so that it can be bent in various directions, but its shape is not limited to this.

The suction driving unit 123b may be provided to move the suction pad unit 123a forward and backward. Additionally, the adsorption driving unit 123b may include a vacuum generator so that the adsorption pad unit 123a adsorbs the loaded cargo.

FIGS. 8A and 8B are diagrams showing a state in which the suction pad portion 123a is moved forward in one embodiment of the present invention. The adsorption driving unit 123b can adsorb the loaded cargo by moving the adsorption pad unit 123a forward in the adsorption mode. The adsorption driving unit 123b can move the adsorption pad unit 123a, on which the adsorbed cargo is unloaded, backward and return it to its original position.

Here, it has been explained that the suction pad portion 123a moves forward to adsorb the loaded cargo, but this is not limited to this. With the suction pad portion 123a fixed, the hand unit 111 moves toward the loaded cargo, and then the suction pad portion 123a moves forward to adsorb the loaded cargo. Loaded cargo may be adsorbed through the portion 123a.

The clamp means 125 may serve to pick up and unload the loaded cargo in the loading box. That is, the clamp means 125 can be used when the dismount mode of the robot arm device 102 is the clamping mode. For example, the clamp means 125 may be provided to move forward and backward along the longitudinal direction of the hand unit 113. The clamp means 125 may include a clamping part 125a and a clamp driving part 125b.

The clamping part 125a is a part that picks up the loaded cargo. At this time, the type of loaded cargo may be gunny sacks. That is, the clamping part 125a may be provided to pick up a gunny sack among the loaded cargo. For this purpose, the end of the clamping portion 125a may be provided in the shape of a tong. The clamp driving unit 125b may be provided to move the clamping unit 125a forward and backward.

Figure 9 is a diagram showing a state in which the clamping part 125a is moved forward in one embodiment of the present invention. The clamp driving unit 125b can move the clamping unit 125a forward in the clamping mode to pick up the loaded cargo. The clamp driving unit 125b can move the clamping unit 125a, which has unloaded the loaded cargo, backward and return it to its original position.

Here, it has been explained that the clamping part 125a moves forward and picks up the loaded cargo, but it is not limited to this. With the clamping part 125a fixed, the hand unit 111 moves toward the loaded cargo and then clamps the clamping part 125a. It may be arranged to clamp the loaded cargo through.

Figures 10 to 16 are diagrams showing the operation of an automated cargo unloading machine to unload loaded cargo from a loading box according to an embodiment of the present invention.

Referring to FIG. 10, the automated cargo unloading machine 100 can recognize the distance to the cargo, the loading pattern of the cargo, the loading location of the cargo, and the type of cargo through a vision sensor or the like. At this time, the automated cargo unloading machine 100 may move toward the cargo depending on the distance to the cargo. The automated cargo unloading machine 100 can sequentially unload cargo according to the height of the loaded cargo.

Referring to FIG. 11, the automated cargo unloading machine 100 can adjust the height of the front end of the conveyor device 104 according to the loading height of the cargo. The automated cargo unloading machine 100 can adjust the height of the front end of the conveyor device 104 based on the height of the cargo located at the top among the loaded cargo. In other words, the robot arm device 102 unloads the cargo located at the top among the loaded cargo, and the height of the front end of the conveyor device 104 can be adjusted to a height that can safely receive the cargo located at the top among the loaded cargo. You can.

Referring to FIG. 12, the automated cargo unloading machine 100 may position the robot arm device 102 above the loaded cargo to unload the cargo located at the top. In an exemplary embodiment, when the cargo located at the top of the loaded cargo is in the form of a box and an entry space for the robot arm device 102 is secured on top of the cargo located at the top, the robot arm device 102 performs a down sweep (down sweep). By operating in sweep mode, cargo located at the top can be unloaded. At this time, the robot arm device 102 may unload the outermost cargo among the cargo located at the top of the loaded cargo in a down sweep mode, but is not limited to this.

Referring to FIG. 13, a state is shown in which the robot arm device 102 unloads the cargo located at the top among the loaded cargo toward the conveyor device 104 through a down sweep mode. Here, the down sweep mode is performed in a state in which the unloading conveyor belt 121 of the hand unit 113 is placed to face the target cargo at the top of the target cargo (i.e., the cargo to be unloaded) (i.e., the surface of the unloading conveyor belt 121 This may mean an operation mode in which the unloading conveyor belt 121 is rotated toward the main body frame 108 (in a state facing the upper surface of the target cargo) to sweep the target cargo downward. At this time, depending on the number of cargo to be unloaded through the down sweep mode or the location of the cargo, both of the pair of unloading conveyor belts 121 may operate in the down sweep mode, or only one of them may operate in the down sweep mode. .

Referring to FIGS. 14A to 14C, the robot arm device 102 shows a state in which loaded cargo is unloaded through a side sweep mode. In an exemplary embodiment, the robot arm device 102 unloads the outermost cargo among the cargo located at the top of the loaded cargo in the down sweep mode, and then unloads the cargo located in the middle portion in the side sweep mode. You can. However, it is not limited to this, and if the cargo located at the top of the loaded cargo is box-shaped and an entry space for the robot arm device 102 is secured on the side of the cargo located at the top, the robot arm device 102 operates in side sweep mode. The cargo can be unloaded by operating .

Here, the side sweep mode positions one or more target cargoes between a pair of unloading conveyor belts 121, and moves the pair of unloading conveyor belts 121 from both sides of the target cargo (i.e., cargo to be unloaded). In a state where the unloading conveyor belt 121 is arranged to face the cargo (i.e., the surface of the unloading conveyor belt 121 faces the side of the target cargo at the side of the target cargo), the pair of unloading conveyor belts 121 are moved in the direction of the main body frame 108. This may mean an operation mode that rotates to the side and sweeps the target cargo downward.

Specifically, the robotic arm device 102 can cause the hand unit 113 to enter the side space of the loaded cargo (FIG. 14a). Next, the robot arm device 102 can be arranged so that the pair of unloading conveyor belts 121 of the hand unit 113 face the side of the target cargo (FIG. 14b). Next, the robot arm device 102 can rotate the pair of unloading conveyor belts 121 toward the main body frame 108 to unload the target cargo downward (FIG. 14C). At this time, the automated cargo unloading machine 100 may continue to operate in a side sweep mode while bringing the pair of robot arm devices 102 together inward as the loaded cargo is unloaded.

Referring to FIGS. 15A to 15C , the robot arm device 102 shows a state in which loaded cargo is unloaded through a clamping mode. In an exemplary embodiment, the automated cargo unloading machine 100 may operate the robotic arm device 102 in a clamping mode depending on the type of cargo to be unloaded. For example, if the type of cargo to be unloaded is cargo that can be caught through the clamp means 125, such as a gunny sack or pouch, the cargo unloading automation machine 100 operates the robot arm device 102 in clamping mode. You can do it.

Specifically, when the type of cargo is a gunny sack (FIG. 15a), the robot arm device 102 moves the hand unit 113 to the target cargo side and then clamps the target cargo through the clamping portion 125a of the clamp means 125. can be held (Figure 15b). At this time, the clamping part 125a may be moved forward depending on the distance to the target cargo. Next, the robotic arm device 102 can pull the target cargo downward and unload the target cargo (FIG. 15C).

Referring to FIGS. 16A to 16C , the robot arm device 102 shows a state in which loaded cargo is unloaded through a suction mode. In an exemplary embodiment, the robotic arm device 102 may unload cargo in a suction mode depending on one or more of the loading height of the cargo and the type of cargo. For example, when the target cargo is located at the bottom or top and the cargo is in the shape of a box, the robot arm device 102 can unload the target cargo through the adsorption mode. Figures 16a to 16c show a state in which the cargo is unloaded in adsorption mode when the target cargo is in the form of a box located at the bottom.

Specifically, the robot arm device 102 can adsorb the target cargo through the adsorption pad portion 123a of the adsorption means 123 (FIG. 16a). At this time, the suction pad portion 123a may be moved forward depending on the distance to the target cargo. Next, the robot arm device 102 can move the target cargo to the upper part of the conveyor device 104 while adsorbing the target cargo (FIG. 16b). Next, the robot arm device 102 can detach the target cargo from the suction pad portion 123a and unload the target cargo onto the conveyor device 104 (FIG. 16c).

According to the disclosed embodiment, the cargo unloading automation machine 100 is provided with a pair of robot arm devices 102 capable of multi-axis rotation and movement, and the robot arm device 102 includes an unloading conveyor belt 121 and an adsorption means. (123), and by providing a clamp means (125), down sweep mode, side sweep mode, adsorption mode, etc. according to the position of the loaded cargo, the loading pattern of the cargo, and the type of cargo, etc. It operates in various unloading modes such as and clamping mode, allowing the loaded cargo to be unloaded easily and quickly.

Figure 17 is a perspective view showing a conveyor device in an automated cargo unloading machine according to an embodiment of the present invention, and Figure 18 is a plan view showing a conveyor device in an automated cargo unloading machine according to an embodiment of the present invention.

17 and 18, the conveyor device 104 may be provided between a pair of robot arm devices 102. The conveyor device 104 may serve to singulate cargo unloaded by a pair of robot arm devices 102. In other words, the conveyor device 104 can automatically align and transport cargo unloaded by a pair of robot arm devices 102. The conveyor device 104 may include a first conveyor unit 104-1, a second conveyor unit 104-2, and a third conveyor unit 104-3.

The first conveyor unit 104-1 may be provided at the front end of the conveyor device 104. The first conveyor unit 104-1 may serve to receive cargo unloaded by a pair of robot arm devices 102. The first conveyor unit 104-1 may be provided so that its height from the ground can be adjusted. Additionally, the first conveyor unit 104-1 may be provided so that its inclination is adjusted.

In an exemplary embodiment, the first conveyor unit 104-1 has a height depending on the unloading mode of the pair of robot arm devices 102 and the location within the loading box of the cargo to be unloaded through the pair of robot arm devices 102. and one or more of the inclination may be provided to be adjusted. At this time, the first conveyor unit 104-1 can be adjusted to have a height and slope that can safely receive unloaded cargo.

The first conveyor unit 104-1 may include an entry part 131, a first side part 133, a second side part 135, a guide part 137, and a transfer part 139.

The entry part 131 may be provided at the front of the first conveyor part 104-1. The entry portion 131 may be prepared to have a preset first width. The entry unit 131 may include a plurality of first rollers (a) to transfer cargo unloaded by the pair of robot arm devices 102 to the rear transfer unit 139. At this time, the first rollers may be provided parallel to the width direction of the first conveyor unit 104-1. Additionally, the first rollers may be arranged along the longitudinal direction of the entry portion 131.

The first side part 133 may be provided on one side of the transfer part 137 at the rear of the entry part 131. The first side portion 133 may include a conveyor belt to transfer cargo unloaded by the pair of robot arm devices 102 to the rear.

The second side part 135 may be provided on the other side of the transfer part 137 at the rear of the entry part 131. The second side portion 135 may include a conveyor belt to transfer cargo unloaded by the pair of robot arm devices 102 to the rear.

The guide unit 137 may be provided at a certain height on both sides of the first conveyor unit 104-1. The guide part 137 is seated on the entry part 131, the first side part 133, and the second side part 135 and may serve to guide cargo delivered rearward to the transfer part 139.

The guide portion 137 may be formed along the outer edge of the first side portion 133 and the outer edge of the second side portion 133, and may be gathered toward the center and provided along both edges of the transfer portion 137. The guide unit 137 also serves to prevent cargo unloaded by the pair of robot arm devices 102 from leaving the first conveyor unit 104-1.

The transfer unit 139 may be provided between the first side part 133 and the second side part 135 at the rear of the entry part 131. The transfer unit 139 may be provided to have a second width smaller than the width of the entry unit 131. The transfer unit 139 may serve to transfer cargo delivered through the entry unit 131, the first side part 133, and the second side part 135 to the rear second conveyor unit 104-2. .

The transfer unit 139 may include a first transfer unit 139-1, a second transfer unit 139-2, and a third transfer unit 139-3. The first transfer unit 139-1 may be provided along the longitudinal direction of the transfer unit 139 at the center of the transfer unit 139. The first transfer unit 139-1 is provided parallel to the width direction of the first conveyor unit 104-1 and may include a plurality of second rollers (b) provided along the longitudinal direction of the transfer unit 139. there is.

The second transfer unit 139-2 may be provided along the longitudinal direction of the transfer unit 139 on the left side of the first transfer unit 139-1. The second transfer unit 139-2 may be provided in a left diagonal direction and may include a plurality of third rollers c provided along the longitudinal direction of the transfer unit 139.

The third transfer unit 139-3 may be provided along the longitudinal direction of the transfer unit 139 on the right side of the first transfer unit 139-1. The third transfer unit 139-2 may include a plurality of fourth rollers d provided in a diagonal direction to the right and along the longitudinal direction of the transfer unit 139.

Here, the second transfer unit 139-2 includes third rollers (c) in a left diagonal direction, and the third transfer unit 139-2 includes fourth rollers (d) in a right diagonal direction, so that the first Cargoes on the conveyor unit 104-1 are gathered at the center of the transfer unit 139 (i.e., the first transfer unit 139-1) and can be transported rearward.

The second conveyor unit 104-2 may be provided along the longitudinal direction of the conveyor device 104 at the rear of the first conveyor unit 104-1. The second conveyor unit 104-2 may be inclined downward at a certain angle, but is not limited to this. The first conveyor unit 104-1 may be tiltably coupled to an end of the second conveyor unit 104-2.

At the center of the second conveyor unit 104-2, fifth rollers e are provided parallel to the width direction of the second conveyor unit 104-2 and along the longitudinal direction of the second conveyor unit 104-2. It can be. A sixth roller (f) and a seventh roller (g) may be provided on both sides of the second conveyor unit 104-2. The sixth roller (f) may be provided along the longitudinal direction of the second conveyor unit (104-2) in a diagonal direction from the left side of the fifth roller (e) to the left. The seventh roller (g) may be provided along the longitudinal direction of the second conveyor unit (104-2) in a diagonal direction from the right side of the fifth roller (e).

The third conveyor unit 104-3 may be provided along the longitudinal direction of the conveyor device 104 at the rear of the second conveyor unit 104-2. The width of the third conveyor unit 104-3 may be provided to correspond to the width of the second conveyor unit 104-2. The third conveyor unit 104-3 is parallel to the width direction of the third conveyor unit 104-3 and includes a plurality of eighth rollers (h) provided along the longitudinal direction of the third conveyor unit 104-3. may include.

Figure 19 is a diagram showing the transport direction of cargo in a conveyor device according to an embodiment of the present invention. Referring to FIG. 19, the conveyor device 104 can be divided into first to eleventh sections. The first section ① may be an area where the entry section 131 is provided. The second section ② may be an area where the front end of the first transfer unit 139-1 is located. The third section ③ may be an area where the rear end of the first transfer unit 139-1 is located. The fourth section ④ may be an area where the second transfer unit 139-2 is provided. The fifth section ⑤ may be an area where the third transfer unit 139-3 is provided. The sixth section ⑥ may be an area where the first side portion 133 is provided. The seventh section ⑦ may be an area where the second side portion 135 is provided. The eighth section ⑧ may be an area where the fifth rollers e of the second conveyor unit 104-2 are provided. The ninth section ⑨ may be an area where the sixth rollers f of the second conveyor unit 104-2 are provided. The tenth section (⑩) may be an area where the seventh rollers (g) of the second conveyor unit (104-2) are provided. The 11th section (⑪) may be an area where the third conveyor unit (104-3), that is, the eighth roller (h), is provided.

Here, the conveyor device 104 may be equipped with one or more sensors capable of detecting cargo being unloaded by the pair of robotic arm devices 102. When cargo being placed on the conveyor device 104 is detected, the conveyor device 104 can operate the entire section. In this case, the cargo is automatically aligned to the center of the conveyor device 104 and transported backward, as shown in the direction of the arrow shown in FIG. 19.

Meanwhile, the conveyor device 104 can control the transport speed of the cargo (or the rotation speed of the conveyor belt or roller) for each section in order to singulate the cargo unloaded by the pair of robot arm devices 102.

In an exemplary embodiment, the second section (②), the third section (③), the eighth section (⑧), and the eleventh section (⑪) may operate at a first feed rate. And, the fourth section (④), the fifth section (⑤), the ninth section (⑨), and the tenth section (⑩) may operate at a second transfer speed that is slower than the first transfer speed. Additionally, the first section (①), the sixth section (⑥), and the seventh section (⑦) may be operated at a third transfer speed that is slower than the second transfer speed.

Meanwhile, the first side portion 133 and the second side portion 135 may be provided to be vertically folded downward. The first side portion 133 and the second side portion 135 may be rotatably provided on both sides of the transfer unit 139, respectively.

Figure 20 is a diagram showing a state in which the first side portion 133 of the conveyor device 104 is folded downward in one embodiment of the present invention. Figure 20a is a view of the automatic cargo unloading machine viewed from above, and Figure 20b is a diagram of the automated cargo unloading machine viewed from the rear. Here, the first side portion 133 is shown to be folded downward, but the second side portion 133 may also be configured in the same manner.

Referring to FIGS. 20A and 20B, the first side portion 133 may be arranged to be vertically folded downward according to the difference between the width of the loaded cargo and the width of the first conveyor portion 104-1. For example, when the difference between the width of the loaded cargo and the width of the first conveyor unit 104-1 is less than or equal to a preset reference value, the automated cargo unloading machine 100 folds the first side part 133 downward to remove the first conveyor unit 104-1. 1 The space occupied by the side portion 133 can be secured. In this case, the worker can move through the space occupied by the first side portion 133. That is, the space occupied by the first side portion 133 can be secured as an entry passage for workers.

Figure 21 is a diagram showing a state in which an automated cargo unloading machine enters a loading box according to an embodiment of the present invention.

Referring to FIG. 21, the automated cargo unloading machine 100 can check the change in height difference upon entering the loading box 50 through the height difference sensor 110 mounted on the lower surface of the conveyor device 104. In addition, the operation of the track device 106 can be controlled according to the change in height level to enter the inside of the loading box 50. A detailed explanation of this will be provided later. The height step sensor 110 may also be mounted on the lower surface of the main body frame 108.

In addition, the automated cargo unloading machine 100 loads 50 through a gap detection sensor (not shown) mounted on both sides of the conveyor device 104 (e.g., both sides of the first conveyor unit 104-1). When entering the interior, the gap between left and right can be detected. That is, a gap detection sensor (not shown) may be provided to detect the gap between both side walls inside the loading box 50 and the automated cargo unloading machine 100. The automatic cargo unloading machine 100 can maintain a constant distance between the two side walls inside the loading box 50 to prevent it from colliding with both side walls inside the loading box 50.

When the automated cargo unloading machine 100 enters the inside of the loading box 50 and a worker entry alarm occurs, the gap detected by the gap detection sensor (not shown) is preset. You can check whether it is less than the worker entry width. At this time, if the gap detected by the gap detection sensor (not shown) is less than the preset worker entry width, the automated cargo unloading machine 100 moves one of the first side part 133 and the second side part 135 downward. It can be folded vertically to provide space for workers to enter. The worker entry alarm may occur when the worker presses a separately provided entry button, but is not limited to this and may be generated through a sensor that detects the worker's entry.

Here, the automated cargo unloading machine 100 can move through the track device 106 and enter the inside of the loading box. The track device 106 may be provided to support the automated cargo unloading machine 100 at the lower part of the body frame 108. The orbital device 106 may be provided to enable forward and backward movement and direction changes.

In an exemplary embodiment, the orbiter 106 may include a first crawler 141 , a second crawler 143 , and a third crawler 145 . A moving distance measuring sensor 147 may be provided in each of the first crawler 141, the second crawler 143, and the third crawler 145. The moving distance measurement sensor 147 may be provided to measure the distance traveled by the corresponding endless orbit. For example, the moving distance measurement sensor 147 may be comprised of a rotary encoder, but is not limited thereto.

The first crawler 141, the second crawler 143, and the third crawler 145 are sequentially spaced apart from each other along the longitudinal direction of the automated cargo unloading machine 100 at the lower part of the main body frame 108. It can be provided. The first crawler 141, the second crawler 143, and the third crawler 145 may be provided in pairs on both sides of the lower part of the main body frame 108, respectively.

The separation distance between the first crawler 141 and the second crawler 143 and the separation distance between the second crawler 143 and the third crawler 145 may be the same or may be prepared differently. The first crawler 141, the second crawler 143, and the third crawler 145 may each be prepared to withstand a load of 600 kg or more.

Here, for convenience of explanation, the orbital device 106 is described as including three crawler pairs, but it is not limited thereto and may include various numbers of crawler pairs. Since caterpillar is a known technology, detailed description of its structure and operation will be omitted.

The track device 106 may further include a first height adjustment unit 151, a second height adjustment unit 153, and a third height adjustment unit 155. The first height adjustment unit 151 is connected to the first crawler 141 and can independently adjust the height of the first crawler 141. The second height adjustment unit 153 is connected to the second crawler 143 and can independently adjust the height of the second crawler 143. The third height adjustment unit 155 is connected to the third crawler 145 and can independently adjust the height of the third crawler 145.

Figure 22 is a diagram showing a height adjustment unit according to an embodiment of the present invention. Here, for convenience of explanation, the third height adjustment unit 155 connected to the third crawler 145 is shown as an example, and the first height adjustment unit 151 and the second height adjustment unit 153 are also the same or similar to this. It can be arranged.

Referring to FIG. 22, the third height adjustment unit 155 may include a support plate 155a, a track connection portion 155b, a first height adjustment portion 155c, and a second height adjustment portion 155d. .

The support plate 155a may be provided on an upper portion of the third crawler 145 and spaced apart from the third crawler 145 . The track connection portions 155b may be provided below on both sides of the support plate 155a and connected to the main body of the third crawler track 145. The main body of the third crawler 145 may include a power device provided inside the track wheel and a frame for supporting the track wheel.

The first height adjustment part 155c may be provided vertically on the support plate 155a. The first height adjustment unit 155c may be provided to be height-adjustable up and down. For example, the first height adjuster 155c may be provided to adjust its height up and down through a hydraulic cylinder, but is not limited to this.

The second height adjustment part 155d may be provided vertically on the support plate 155a. The end of the second height adjustment part 155d may be hinged to the end of the first height adjustment part 155c. The second height adjustment unit 155d may be provided at a predetermined distance from the first height adjustment unit 155c. The second height adjustment unit 155d may be provided to allow height adjustment up and down.

The second height adjuster 155d can be adjusted up and down together with the first height adjuster 155c. The second height adjustment unit 155d may be intended to assist the first height adjustment unit 155c. The second height adjustment unit 155d may be provided to adjust its height up and down through a hydraulic cylinder, but is not limited to this.

Additionally, the third height adjustment unit 155 may further include a vertical movement measurement sensor 155e. The vertical movement measurement sensor 155e may be a sensor that detects the extent to which the first height adjuster 155c and the second height adjuster 155d have moved up and down. The vertical movement measurement sensor 155e may be made of a wire encoder, but is not limited thereto.

Figure 23 is a diagram showing the height-adjusted state of the endless track in the automated cargo unloading machine according to an embodiment of the present invention. Referring to FIG. 23, the second crawler 143 is positioned higher than the first crawler 141 by the second height adjustment unit 153. And, the third crawler 145 is positioned higher than the second crawler 145 by the third height adjustment unit 155.

That is, the first crawler 141 is located at a first height difference with the bottom of the main body frame 108, and the second crawler 143 is located at a second height difference (first height) with the bottom of the main body frame 108. The third crawler 145 may be positioned with a third height difference (a height difference lower than the second height difference) with the bottom of the main body frame 108. In this way, each crawler (141, 143, 145) can be independently adjusted in height by each height adjustment unit (151, 153, 155).

Figures 24a to 24c are diagrams schematically showing a state in which an automatic cargo unloading machine enters the inside of a cargo vehicle's loading box according to an embodiment of the present invention.

Referring to FIG. 24A, the automated cargo unloading machine 100 can access the rear of the cargo vehicle's loading box through a dock. The automated cargo unloading machine 100 can approach the rear of the loading box of a cargo vehicle while raising the conveyor device 104 horizontally to a certain height. At this time, the automated cargo unloading machine 100 detects a change in the height step of the floor surface into which the automated cargo unloading machine 100 enters (i.e., the conveyor device 104) through the height step sensor 110 provided on the lower surface of the conveyor device 104. ) and the change in height from the floor) can be confirmed. The height step sensor 110 may be provided on the lower surface of the conveyor device 104, but is not limited thereto and may be provided on the front lower surface of the main body frame 108.

Each track (141, 143, 145) can approach the rear of the cargo vehicle's cargo vehicle with a preset height difference from the main body frame (108). At this time, when the height step sensor 110 detects the height step, the cargo unloading automation machine 100 increases the height of the first crawler 141 by the detected height step through the first height adjustment unit 151. You can do it. Then, it can move forward through the second crawler 143 and the third crawler 145 so that the first crawler 141 enters and settles on the bottom of the loading box. The forward movement of the second crawler 143 and the third crawler 145 depends on the distance measured by the moving distance measurement sensor 147 and the gap between the first crawler 141 and the second crawler 143. It can be done based on

Referring to FIG. 24b, the automated cargo unloading machine 100 adjusts the height of the second crawler 143 to the height of the first crawler 141 (i.e., the detected height) through the second height adjustment unit 153. (by the difference in height) can be raised. Then, it can move forward through the first crawler 141 and the third crawler 145 so that the second crawler 143 enters and settles on the bottom of the loading box.

Referring to FIG. 24C, the automated cargo unloading machine 100 can increase the height of the third crawler 145 by the height of the first crawler 141 through the third height adjustment unit 155. Then, it can move forward through the first crawler 141 and the second crawler 143 so that the third crawler 145 enters and settles on the bottom of the loading box.

In this way, the automatic cargo unloading machine 100 can easily enter the inside of the loading box through the height-adjusted crawler tracks 141, 143, and 145 even when there is a height difference between the dock and the loading box of the cargo vehicle.

Here, the case where the cargo vehicle's loading box is higher than the dock is shown as an example, but it is not limited to this. Even when the cargo vehicle's loading container is lower than the dock, the heights of the crawler tracks 141, 143, and 145 are sequentially adjusted according to the height difference change. Of course, it is possible to enter the inside of the cargo vehicle's cargo vehicle by adjusting it.

Meanwhile, each of the

crawlers

141, 143, and 145 formed on both sides of the lower part of the main body frame 108 may be provided so that the spacing in the width direction of the automated cargo unloading machine 100 can be adjusted. Figure 25 is a diagram showing a state in which the width direction spacing of a crawler track is adjusted according to an embodiment of the present invention.

Figure 25 shows the rear of the automated cargo unloading machine 100, and a width adjustment unit 157 may be provided between each pair of

crawlers

141, 143, and 145. The width adjustment unit 157 may be provided to adjust the gap between each pair of

crawlers

141, 143, and 145. For example, the width adjustment unit 157 may be provided to enable width adjustment through a hydraulic cylinder, but is not limited thereto.

Figure 26 is a flowchart showing a cargo unloading method using an automated cargo unloading machine according to an embodiment of the present invention. In the illustrated flow chart, the method is divided into a plurality of steps, but at least some of the steps are performed in a different order, combined with other steps, omitted, divided into detailed steps, or not shown. One or more steps may be added and performed.

Referring to FIG. 26, the automated cargo unloading machine 100 can acquire an image (loaded cargo image) of cargo loaded inside the cargo box (S 101). For example, the automated cargo unloading machine 100 may acquire images of loaded cargo through a 3D depth camera, a vision sensor or Lidar, and equipment combining these.

Here, the automated cargo unloading machine 100 may further include a lighting means (not shown) (eg, LED). When the automated cargo unloading machine 100 acquires an image of the loaded cargo, it can adjust the brightness around the loaded cargo through a lighting means. For example, by combining a lighting device with a camera or vision sensor, images of loaded cargo can be obtained while adjusting the brightness around the loaded cargo. The automated cargo unloading machine 100 can record cargo recognition performance according to the brightness around the loaded cargo in the loaded cargo image.

Next, the automated cargo unloading machine 100 can check loaded cargo-related information, including one or more of the location of cargo in the cargo box, the type of cargo, and the loading pattern of the cargo, based on the loaded cargo image (S 103). .

In other words, the automated cargo unloading machine 100 determines where each cargo is located within the cargo box and the type of each cargo (e.g., box, gunny sack, pouch, etc.) based on the image of the loaded cargo. You can check what pattern your cargo is loaded in.

Specifically, in the loading box, various types of cargo are stored in various patterns (for example, when boxes are stacked in alignment, boxes are aligned at the bottom, and boxes are stacked unaligned at the top, gunny sacks are stacked in various patterns). When loaded in alignment, the gunny sacks are aligned and loaded at the bottom, when the gunny sacks are unaligned at the top, boxes are loaded at the bottom, gunny sacks are loaded at the top, etc.) The automated cargo unloading machine 100 can confirm the loading pattern of such cargo by analyzing images of loaded cargo.

Next, the automated cargo unloading machine 100 can unload the loaded cargo based on information related to the loaded cargo (S 105).

In an exemplary embodiment, the cargo unloading automation machine 100 selects the unloading mode (down sweep mode, side sweep mode, suction mode, and clamping mode, etc.) can be determined and the cargo can be unloaded accordingly.

In addition, the automated cargo unloading machine 100 can enter the inside of the loading box and then unload the loaded cargo onto the conveyor device 104 using the robot arm device 102. At this time, the automated cargo unloading machine 100 uses a sensor (e.g., ultrasonic sensor, etc.) mounted on the robot arm device 102 to detect the inner wall of the loading box or the loaded cargo or body frame 108. ) can be prevented from colliding with.

Figure 27 is a diagram showing collision prevention of the robot arm device when the automated cargo unloading machine operates within a loading box according to an embodiment of the present invention. Referring to FIG. 27, the automated cargo unloading machine 100 may further include a first anti-collision sensor 161, a second anti-collision sensor 163, and a third anti-collision sensor 165.

The first anti-collision sensor 161 may be provided at the front of the robot arm device 102. The first anti-collision sensor 161 may be provided to prevent the robot arm device 102 from colliding with the loaded cargo when unloading the loaded cargo. For example, the first anti-collision sensor 161 detects the distance between loaded cargoes when the robotic arm device 102 operates in adsorption mode or clamping mode to prevent the robotic arm device 102 from colliding with the loaded cargo. can do.

The second anti-collision sensor 163 may be provided on the side of the robot arm device 102. The second anti-collision sensor 163 may be provided to prevent the robot arm device 102 from colliding with the inner wall of the loading box 50 when unloading cargo.

The third anti-collision sensor 165 may be provided at the rear end of the robot arm device 102. The third anti-collision sensor 165 may be provided to prevent the robot arm device 102 from colliding with the main body frame 108 provided at the rear of the robot arm device 102 when unloading cargo.

Meanwhile, the automated cargo unloading machine 100 can recognize the caution label attached to the cargo through the image of the loaded cargo. Figure 28 is a diagram showing a state in which a caution label is attached to cargo in one embodiment of the present invention. As shown in FIG. 28, the cargo may be affixed with a caution label such as “Caution up/down (do not stand up or turn over)” (A1) or “Handle with caution (never throw)” (A2).

Accordingly, the automated cargo unloading machine 100 can check whether a caution label is attached to the cargo in the loaded cargo image. If a caution label is attached to a certain cargo, the automated cargo unloading machine 100 can analyze the caution label to check the type of caution (i.e., whether it is a caution on top or bottom, caution on handling, etc.).

The automated cargo unloading machine 100 can classify each loaded cargo according to the precaution type and assign a cargo caution classification index to the cargo according to the classification. For example, the automated cargo unloading machine 100 classifies cargo without a caution label as general cargo, and cargo with a caution label attached as cargo with caution or caution depending on the type of caution. Can be classified.

When unloading loaded cargo, the automated cargo unloading machine 100 can check the cargo attention classification index of each cargo and unload each cargo by considering this. In other words, when the cargo attention classification index of a given cargo is that of top-bottom cargo, the automated cargo unloading machine 100 can unload the cargo by taking care not to overturn it when unloading the cargo. The automated cargo unloading machine 100, when the cargo caution classification index of a given cargo is a cargo with handling caution, can unload the cargo by taking care to prevent shock exceeding a certain size from being applied to the cargo when unloading the cargo.

FIG. 29 is a block diagram illustrating and illustrating a computing environment 10 including computing devices suitable for use in example embodiments. In the illustrated embodiment, each component may have different functions and capabilities in addition to those described below, and may include additional components in addition to those described below.

The illustrated computing environment 10 includes a computing device 12 . In one embodiment, computing device 12 may be a freight unloading automated machine 100. Computing device 12 may be a device for performing a method of automating cargo unloading.

Computing device 12 includes at least one processor 14, a computer-readable storage medium 16, and a communication bus 18. Processor 14 may cause computing device 12 to operate in accordance with the example embodiments noted above. For example, processor 14 may execute one or more programs stored on computer-readable storage medium 16. The one or more programs may include one or more computer-executable instructions, which, when executed by the processor 14, cause computing device 12 to perform operations according to example embodiments. It can be.

Computer-readable storage medium 16 is configured to store computer-executable instructions or program code, program data, and/or other suitable form of information. The program 20 stored in the computer-readable storage medium 16 includes a set of instructions executable by the processor 14. In one embodiment, computer-readable storage medium 16 includes memory (volatile memory, such as random access memory, non-volatile memory, or an appropriate combination thereof), one or more magnetic disk storage devices, optical disk storage devices, flash It may be memory devices, another form of storage medium that can be accessed by computing device 12 and store desired information, or a suitable combination thereof.

Communication bus 18 interconnects various other components of computing device 12, including processor 14 and computer-readable storage medium 16.

Computing device 12 may also include one or more input/output interfaces 22 and one or more network communication interfaces 26 that provide an interface for one or more input/output devices 24. The input/output interface 22 and the network communication interface 26 are connected to the communication bus 18. Input/output device 24 may be coupled to other components of computing device 12 through input/output interface 22. Exemplary input/output devices 24 include, but are not limited to, a pointing device (such as a mouse or trackpad), a keyboard, a touch input device (such as a touchpad or touch screen), a voice or sound input device, various types of sensor devices, and/or imaging devices. It may include input devices and/or output devices such as display devices, printers, speakers, and/or network cards. The exemplary input/output device 24 may be included within the computing device 12 as a component constituting the computing device 12, or may be connected to the computing device 12 as a separate device distinct from the computing device 12. It may be possible.

The above detailed description is illustrative of the present invention. Additionally, the foregoing is intended to illustrate preferred embodiments of the present invention, and the present invention can be used in various other combinations, modifications, and environments. That is, changes or modifications can be made within the scope of the inventive concept disclosed in this specification, within the scope equivalent to the written disclosure, and/or within the scope of technology or knowledge in the art. The written examples illustrate the best state for implementing the technical idea of the present invention, and various changes required for specific application fields and uses of the present invention are also possible. Accordingly, the detailed description of the invention above is not intended to limit the invention to the disclosed embodiments. Additionally, the appended claims should be construed to include other embodiments as well.

Claims

one or more processors, and

A method performed in an automated cargo unloading machine comprising a memory storing one or more programs to be executed by the one or more processors,

Obtaining images of loaded cargo captured inside a cargo box where cargo is loaded;

Confirming loaded cargo-related information including one or more of the location of cargo to be unloaded, the type of cargo, and the loading pattern of cargo in the loading box based on the image of the loaded cargo; and

A method for automating cargo unloading, comprising the step of unloading the loaded cargo based on the loaded cargo-related information.
In claim 1,

The step of unloading the loaded cargo includes entering the automated cargo unloading machine into the loading box,

The step of entering the loading box is,

Confirming a change in height level of the floor surface into which the automated cargo unloading machine enters through a height step sensor provided in the automated cargo unloading machine; and

A method for automating cargo unloading, comprising adjusting the height of a crawler provided in the cargo unloading automation machine according to the change in height step to enter the inside of the loading box.
In claim 2,

The automated cargo unloading machine includes a plurality of trackways spaced apart from each other at a lower portion of the automated cargo unloading machine,

The step of entering the inside of the loading box is,

adjusting the height of the crawler located at the front in the moving direction of the automated cargo unloading machine to correspond to the change in height step; and

A method of automating cargo unloading, comprising the step of moving forward through a crawler other than the frontmost track so that the frontmost track enters and settles in the loading box.
In claim 3,

The automated cargo unloading machine further includes a moving distance measurement sensor provided to measure the distance traveled by each crawler track,

The forward movement of the other crawler tracks is based on the distance between the frontmost track and the next track and the distance measured by the moving distance measurement sensor.
In claim 4,

The step of entering the inside of the loading box is,

A method of automating cargo unloading, wherein the heights of the other crawler tracks are sequentially adjusted to correspond to the change in height step, and the cargo is moved forward through another crawler track other than the height-adjusted track to enter the inside of the loading box.
In claim 1,

The step of unloading the loaded cargo is:

Entering the cargo unloading automation machine into the loading box; and

A pair of robot arm devices provided in the automated cargo unloading machine unload the loaded cargo while preventing it from colliding with one or more of the inner wall of the loading box, the loaded cargo, and the main body frame of the automated cargo unloading machine. Method for automating cargo unloading, comprising steps.
In claim 6,

The step of unloading the loaded cargo is:

Preventing the pair of robot arm devices from colliding with the loaded cargo through a first anti-collision sensor provided at a front end of the pair of robot arm devices;

Preventing the pair of robot arm devices from colliding with the inner wall of the loading box through a second anti-collision sensor provided on a side of the pair of robot arm devices; and

Preventing the pair of robot arm devices from colliding with a main body frame portion provided at the rear of the pair of robot arm devices through a third anti-collision sensor provided at the rear end of the pair of robot arm devices. Including, a method of automating cargo unloading.
In claim 1,

The method of automating cargo unloading is,

Checking whether a caution label is attached to the cargo through the image of the loaded cargo; and

If the caution label is attached, a method for automating cargo unloading, further comprising analyzing the caution label to check the type of precaution.
In claim 8,

The method of automating cargo unloading is,

assigning a cargo caution classification index to the corresponding cargo according to the precaution type; and

A method for automating cargo unloading, further comprising unloading the corresponding cargo from the loading box based on the cargo attention classification index.
In claim 1,

The step of unloading the loaded cargo is:

Entering the cargo unloading automation machine into the loading box; and

A method of automating cargo unloading, comprising the step of vertically folding at least one of both sides of the first conveyor unit provided in the cargo unloading automation machine downward according to preset conditions.
In claim 10,

The folding step is,

Checking whether a worker entry alarm occurs when the automated cargo unloading machine enters the loading box;

When the worker entry alarm occurs, detecting a gap between the automated cargo unloading machine and the inner wall of the loading box through a gap detection sensor provided in the automated cargo unloading machine; and

A method for automating cargo unloading, including the step of folding at least one of both sides of the first conveyor unit vertically downward when the detected gap is less than a preset operator entry width.
A cargo unloading automation machine for performing the cargo unloading automation method described in claim 1.