Unloading system for automatically unloading objects

Abstract

The invention relates to an unloading system (100) for automatically unloading an object (50), comprising a robotic arm (110) and a control unit (150), the robotic arm comprising a gripper (115). The control unit (150) is configured to drive the robotic arm (110) to place the gripper (115) at a side surface (55) of the object (50) and to allow the gripper (115) to apply a lateral force to the object (50) and to drive the object (50) to slide onto the loading surface (125).

Description

Technical Field

[0001] This disclosure relates to industrial process automation. Specifically, this disclosure relates to an unloading system for automatically unloading objects, a robotic arm for an unloading system, a loading plate for an unloading system, the use of an unloading system for automatically unloading objects from containers or trucks, a method for automatically unloading objects, a computer program, a non-transitory machine-readable data carrier and / or a downloadable product having the computer program, and one or more computer and / or computing instances having the computer program and / or having a machine-readable data carrier and / or a downloadable product. Background Technology

[0002] Industrial automation systems can provide efficient and cost-effective solutions for a wide range of applications in modern continuous, batch, and discrete processes. Among these, automated unloading of containers and trucks, including bulk unloading and item-by-item unloading, is of great significance in the field of logistics automation. One of the supply chain bottlenecks in industrial automation processes is that the automated unloading process for containers has not yet been fully resolved. In conventional setups using robotic grippers, objects or items inside containers or trucks are lifted or moved from the top or side when picked up by a robot and then placed on a conveyor. This lifting mechanism is limited in its implementation due to the limited space above the items to be picked up, as well as the design, weight, and material of individual items. Summary of the Invention

[0003] One objective of this invention can be considered as providing an optimized robotic container unloading system with greater flexibility and automation efficiency.

[0004] This objective is achieved through the subject matter of the independent claims. The dependent claims, the following description, and the accompanying drawings illustrate embodiments of the invention.

[0005] According to a first aspect of the invention, an unloading system for automatically unloading an object is provided. The unloading system includes a robotic arm and a control unit, the robotic arm including a gripper. The control unit is configured to drive the robotic arm to place the gripper at the object. Furthermore, the control unit is configured to allow the gripper to apply a lateral force to the object and to drive the object to slide onto a loading surface.

[0006] For example, the gripper of a robotic arm can be placed at a specific area of ​​an object to apply lateral forces and allow the object to slide or translate. Specifically, the control unit can be configured to position the gripper on the side surface of the object. The side surface of the object can be varied and is flexible depending on the spatial conditions of the unloading process. Alternatively or additionally, the gripper can be placed on a predetermined area of ​​the object for moving the object, for example, placed on the edge of the object.

[0007] The unloading system can be implemented for unloading objects one by one or item by item. Objects can initially be placed in an object unit comprising multiple objects within a container or truck. Alternatively or additionally, the unloading system can also be used to unload multiple or bulk objects, for example, when multiple objects can be placed on the same horizontal plane and / or when the gripper can be designed to handle multiple objects or fully cover multiple objects.

[0008] Compared to lifting or handling mechanisms used in traditional unloading processes to unload items or objects from the top of an object, robotic arms can, for example, drag or pull objects directly onto the loading surface of a loading plate or conveyor.

[0009] Advantageously, the dragging or pulling mechanism of the unloading system can optimize unloading capacity and eliminate kinematic problems that may arise when attempting to lift items. It is conceivable that most objects in a container or truck (such as cardboard boxes) may not be designed to be lifted from the top. For example, the strength, weight, and thickness of the cardboard box and / or its contents, as well as the thickness of the box, may not be designed for the lifting mechanism during the unloading process.

[0010] Furthermore, manipulating objects from above presents challenges related to inertia and separation from objects below. Conversely, a drag-and-drop method efficiently overcomes these technical limitations and elevates capabilities to a human-like level. For example, when moving or lifting objects with a robotic gripper, the object's inertia and the strength of the carton must be considered. This risk is eliminated when the object or item is slid directly onto the loading surface. Thus, the drag-manipulate-release cycle using an unloading system can be faster than the pick-up or lift-manipulate-drop cycle using a conventional unloading gripper, thereby increasing capability.

[0011] According to one embodiment, the gripper of the robotic arm can be a vacuum gripper, a magnetic gripper, a pneumatic gripper, an adhesive gripper, a gecko gripper, a mechanical gripper, or a bionic gripper.

[0012] The term "gripper" can be understood broadly and can refer to a general-purpose gripper that can be configured to apply a lateral force to an object to drive it to perform translational movement. It should be noted that grippers are not limited to the types listed above, and can also be different types of grippers.

[0013] According to another embodiment, the gripper may include at least one adsorption element. The at least one adsorption element may be configured to allow the gripper to grasp an object on a side surface and drive the object directly onto the loading surface.

[0014] For example, a side surface can be the front surface of an object facing the outside of a container or truck.

[0015] At least one adsorption element of the vacuum gripper may include one or more adsorption elements. These adsorption elements may be arranged on the surface of the gripper and designed to be selectively activated, allowing the gripper to firmly grasp the object on its side for translational movement. It may be specified that, for a given object, activating only a portion of the adsorption elements may be sufficient.

[0016] According to another embodiment, the loading surface may be the loading surface of a conveyor, an end-open loading surface, or the loading surface of a loading plate.

[0017] Advantageously, the shape of the object is not determined by the unloading system using a robotic arm with a vacuum gripper positioned on the side. Typically, objects (such as cardboard boxes) can be designed to have a length greater than their width and height from the front. This can make it impossible to pick up the box from the side using a vacuum. However, if the gripper is designed to pick up the box from the side by pulling or dragging it to slide it onto the loading surface, a vacuum can be sufficient.

[0018] Furthermore, the weight of the object may not be a determining factor in the unloading process using the unloading system disclosed herein. Unloading of the object can be achieved as long as it can slide on the conveyor or loading plate.

[0019] According to another embodiment, the unloading system may include a loading plate, which may include a loading surface. The control unit may be configured to allow a gripper pulling an object to slide onto the loading surface and / or release the object onto the loading surface.

[0020] When pulling or dragging an object, the payload of the gripper and / or robotic arm does not need to be as high as when moving or lifting the object. This means that smaller or more compact types of robotic arms can be used inside containers or trucks to unload one or more objects from the truck.

[0021] According to another embodiment, the loading plate may be a movable loading plate. Alternatively, the loading plate may be a stationary or fixed loading plate, which may be pre-arranged near the object to be unloaded, for example.

[0022] When the loading plate is designed to be movable, the control unit can be configured to move the loading plate and adjust its position based on the object's location to arrange the loading surface and allow the object to slide onto the loading surface.

[0023] It can be specified that the conveyor or loading plate (on which an object can be dragged or pulled) can move up and down between the gripper of the robot arm and the object until the loading surface is positioned relative to the object to be unloaded, so as to allow the object to move laterally or slide without lifting.

[0024] Therefore, the control unit can be configured to allow the conveyor or loading plate to be precisely positioned within the area or range where the robotic arm is working, so that objects do not fall when dragged or pulled.

[0025] According to another embodiment, the unloading system may further include an object detection unit configured to detect the position of an object. The control unit may be configured to move the loading plate based on the detected object position for arranging the loading surface and for allowing the object to slide onto the loading surface.

[0026] According to another embodiment, the object detection unit can be configured to detect at least one characteristic of the object to determine a region of the object's side surface for which the gripper is placed. The at least one characteristic of the object may include, but is not limited to, the object's size, shape, center of gravity, material type, and / or packaging method.

[0027] For example, the object detection unit can be integrated into the robotic arm or set up separately to detect or monitor objects. Furthermore, the object detection unit can be configured to evaluate or analyze the characteristics of objects while detecting them.

[0028] According to another embodiment, the object can be a cardboard box, bag, or crate.

[0029] It should be noted that the properties of an object are not limited to the parameters listed above.

[0030] The same unloading principle can be applied to other types of objects, such as cardboard boxes, bags, crates, or boxes made of metal, plastic, or other materials.

[0031] According to another embodiment, the clamp can be positioned on the same side as the loading surface.

[0032] Additionally or alternatively, if the control unit is also configured to allow the gripper to push an object from the loading surface to the second loading surface when the movable loading plate can be further moved by the control unit to align the loading surface with the second loading surface, the gripper can be positioned on a different side from the loading surface. For example, if the loading surface is located at the loading plate of the unloading system and the second loading surface is located at another conveyor, the object to be unloaded can be automatically transported via the loading surface of the loading plate to the next second loading surface of the other conveyor.

[0033] Because the movement of the robotic arm can be limited by the simple translational movement of the object in a single lateral direction during unloading, a higher throughput can be achieved using an unloading system compared to a conventional lifting unloading system (where the gripper and / or robotic arm may need to rotate, for example, about 180°).

[0034] According to a second aspect, a robotic arm for an unloading system is provided, the robotic arm including a gripper. The gripper is configured to be placed on an object and apply a lateral force to the object for driving the object to slide onto a loading surface.

[0035] According to a third aspect, a loading plate for an unloading system is provided, the loading plate including a loading surface. The loading plate is configured to be movable by a control unit, and the position of the loading plate is configured to be adjusted based on the position of an object to arrange the loading surface and to allow the object to slide onto the loading surface.

[0036] According to the third aspect, an unloading system is provided for the purpose of automatically unloading objects from containers or truck containers.

[0037] In addition, an unloading system is provided for use with a generic object unit (e.g., a palletizing unit) that comprises multiple objects, one or more of which can be unloaded.

[0038] By using the unloading system of this disclosure to drag or pull objects instead of lifting them with conventional grippers, a more robust robotic grasping system can be provided, capable of handling a wider variety of customized or individual objects in a faster or more efficient manner. Furthermore, some major drawbacks of object manipulation, such as those related to object inertia, are eliminated.

[0039] In addition, the robotic arm is also provided for use in other automation applications, such as object picking or packaging, logistics, installation and / or system management.

[0040] According to the fourth aspect, a method for automatically unloading objects using an unloading system is provided. This method includes the following steps:

[0041] The robot arm is driven by a control unit, and the gripper of the robot arm is placed on the object.

[0042] The gripper is allowed to apply lateral force to the object and drive the object to slide onto the loading surface.

[0043] According to one embodiment, the method may further include the steps of: moving a loading plate including a loading surface by means of a control unit, and adjusting the position of the loading plate based on the position of the object to arrange the loading surface and to allow the object to slide onto the loading surface.

[0044] According to another embodiment, the method may further include the following steps: detecting the position of an object by means of an object detection unit for moving the loading plate, thereby arranging the loading surface and allowing the object to slide onto the loading surface.

[0045] According to another embodiment, the method may further include the step of detecting at least one characteristic of the object using an object detection unit to determine a region of the object's side surface for which the gripper is placed. The at least one characteristic of the object may include the object's size, shape, center of gravity, material type, and / or packaging method.

[0046] For example, the area of ​​the side surface of an object can be the central area of ​​the side surface of the object.

[0047] According to another aspect, a computer program is provided that includes machine-readable instructions, which, when executed by one or more computers and / or computing instances, cause one or more computers and / or computing instances to perform a method for operating a robotic arm of an automated system.

[0048] According to another aspect, a non-transitory machine-readable data carrier and / or downloadable product is provided, the downloadable product having a computer program. The downloadable product is an instance of a computer program that can be sold and downloaded online for immediate implementation, replacing the physical transport of the machine-readable data carrier.

[0049] According to another aspect, one or more computer and / or computing instances are provided, the computer and / or computing instances having a computer program (the computer program including machine-readable instructions that, when executed by one or more computer and / or computing instances, cause one or more computer and / or computing instances to perform a method for operating a robotic arm of an automated system), and / or having a machine-readable data carrier and / or a downloadable product having the computer program.

[0050] This method can be implemented at least partially by a computer, and can be implemented in software or hardware, or both. Furthermore, the method can be executed by computer program instructions running on equipment providing data processing capabilities. The data processing equipment can be suitable computing equipment, such as an electronic control module, or it can be a distributed computer system. The data processing equipment or computer can each include one or more of a processor, memory, data interface, etc.

[0051] It should be noted that, regardless of the aspects involved, the above examples can be combined with each other. Therefore, the method can be combined with structural features, and similarly, the apparatus and system can be combined with the features described above regarding the method.

[0052] These and other aspects will become apparent and elucidated from the accompanying drawings and embodiments described below. Attached Figure Description

[0053] Examples of this disclosure will now be described with reference to the accompanying drawings.

[0054] Figure 1 An example of an uninstallation system according to this disclosure is illustrated schematically;

[0055] Figure 2 An example of an unloading system including a control module according to this disclosure is illustrated schematically;

[0056] Figure 3 The component structure of the unloading system according to this disclosure is schematically shown;

[0057] Figure 4 A flowchart illustrating a method for automatically unloading an object using an unloading system according to the present disclosure is shown schematically.

[0058] The accompanying drawings are merely schematic representations and are intended to illustrate this disclosure only. Identical or equivalent elements generally have the same reference numerals. Detailed Implementation

[0059] Figure 1 An example of an unloading system 100 for automatically unloading objects 50 from a container 20 of a truck 10 is shown schematically.

[0060] The robotic arm 110 includes a gripper 115, which may be a vacuum gripper including one or more suction elements. The suction elements may be designed to allow the gripper 115 to grasp an object 50 on a side surface 55 and drive the object 50 to slide directly onto a loading surface 125.

[0061] The loading surface 125 may alternatively be the loading surface of a conveyor. Alternatively, a loading plate 120 including the loading surface 125 may be disposed in the unloading system 100. In this way, the unloading system 100 may include an assembly of a robotic arm 110 and a loading plate 120.

[0062] The gripper 115 is positioned on the same side as the loading plate 120. Furthermore, the loading plate 120 can be designed as a movable loading plate, allowing it to be moved or positioned near or adjacent to the object 50 to be unloaded, and the loading surface 125 can be positioned based on the location of the object 50 (e.g., at the same height or level as the bottom side of the object 50) to allow the object 50 to slide laterally from the palletizing unit (on which multiple objects are stacked and arranged) onto the loading surface.

[0063] For example, the gripper 115 of the robotic arm 110 can be designed to grasp an object 50 on one side for pulling the object 50 in one direction, such as in the lateral direction.

[0064] like Figure 3 As shown, the unloading system also includes a control unit 150 (in Figure 1 (Not visible in the image). The control unit 150 may be integrated into the robot arm 110 and / or separately located in an external control system (e.g., in a computer center or cloud system) to control the motion or movement of the robot arm 110 and / or the gripper 115. Alternatively, the control unit 150 may be at least partially located outside the robot arm 110 to control both the robot arm 110 and the movable loading plate 120. In this case, the robot arm 110 may include internal actuators, for example, to perform movement of the gripper 115.

[0065] exist Figure 1 In this configuration, the control unit 150 can be configured to drive the robot arm 110 to place the gripper 115 on the side surface of the object, grasp the object 50 from the side, and allow the prepared gripper to apply a lateral force to the object 50 to unload the object 50.

[0066] also, Figure 2 As shown, the control unit 150 is configured to drive an object onto the loading surface 125 by means of the gripper 115 of the robotic arm 110. In other words, the control unit 150 is configured to allow the gripper 115 (e.g., by means of an adsorption element disposed at the gripper) to directly pull the object onto the loading surface arranged at the same height level. Furthermore, the control unit 150 can be configured to release the object 50 onto the loading surface 125 by means of the gripper 115.

[0067] Following the aforementioned unloading mechanism, the gripper 115 can be configured to unload the object 50 without gripping it from the top to lift it up, as is the case with conventional grippers, and then placing the object 50 onto a conveyor. In this way, the gripper 50 can pull the object 50 to perform translational movement in the lateral direction without changing the object 50's horizontal height above the ground.

[0068] Figure 3 The unloading system 100 may also include an object detection unit 130. The object detection unit 130 may be arranged or integrated in the robotic arm 110. Alternatively, the object detection unit 130 may be set up separately and configured to interact with the robotic arm 110 and the control unit 150.

[0069] The object detection unit 130 can be configured to detect the position of the object 50. Accordingly, the control unit 150 can be configured to move the loading plate 120 based on the detected position of the object 50 for arranging the loading surface 125 and for allowing the object 50 to slide onto the loading surface 125.

[0070] Alternatively or additionally, the object detection unit 130 may be configured to detect at least one characteristic of the object 50 to determine an area of ​​the side surface 55 of the object 50 for which the gripper is placed. At least one characteristic of the object 50 may include the size, shape, center of gravity, material type, and / or packaging method of the object 50. For example, the area of ​​the side surface 55 of the object 50 may be the central region of the side surface 55 of the object 50.

[0071] Object 50 may be a cardboard box, bag, or crate. For example, by using object detection unit 130 to detect and determine the size, shape, and / or material type of object 50, control unit 120 and robotic arm 110 may be configured to allow the adsorption element of gripper 115 to firmly grasp object 50 on side surface 55.

[0072] Figure 4 A flowchart illustrating an embodiment of a method 400 for automatically unloading an object 50 by means of an unloading system 100 is shown.

[0073] In step 410, the robot arm 110 is driven by the control unit 150, and the gripper 115 of the robot arm 110 is placed on the object 50.

[0074] For example, depending on the planned direction of translational movement of object 50, gripper 115 may be positioned on the side surface 55 of object 50 by means of robotic arm 110. Alternatively or additionally, gripper 115 may be placed on a predetermined area of ​​object 50 for unloading, for example, placed on the edge of object 50.

[0075] In step 430, the gripper 115 is allowed to apply a lateral force to the object 50, and the object 50 is driven to slide onto the loading surface 125.

[0076] Optionally, in step 420, before or after step 410 and before step 430, the loading plate 120 including the loading surface can be moved by means of the control unit 150, and the position of the loading plate 120 can be adjusted based on the position of the object 50 for arranging the loading surface 125 and for allowing the object 50 to slide onto the loading surface 125, for example in the lateral direction.

[0077] Optionally, prior to step 410, which involves driving the robot arm 110 and placing the gripper 115 on the object 50, an additional step may be provided in which the position of the object 50 is detected by means of the object detection unit 130 for moving the loading plate, thereby for arranging the loading surface 125 and for allowing the object 50 to slide onto the loading surface 125.

[0078] Optionally, an additional step may be provided in which at least one characteristic of the object 50 may be detected by means of the object detection unit 130 to determine a region of the side surface 55 of the object 50, such as a middle or central region, for which the gripper 115 is placed. The at least one characteristic of the object 50 may include the size, shape, center of gravity, material type, and / or packaging method of the object 50.

[0079] Although the invention has been detailed and described in the accompanying drawings and the foregoing description, such description and description are intended to be illustrative or exemplary, not restrictive; the invention is not limited to the disclosed embodiments. Other variations of the disclosed embodiments can be understood and implemented by those skilled in the art and those practicing the claimed invention through study of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements, and the indefinite articles "a" or "an" do not exclude multiple elements. A single processor or controller or other unit can perform the functions of several items recited in the claims. The mere fact that certain measures are recited in dissimilar dependent claims does not imply that combinations of these measures cannot be used advantageously. No reference numerals in the claims should be construed as limiting the scope. List of reference numerals

[0080] 10 trucks

[0081] 20 containers

[0082] 50 objects

[0083] 55 side surface

[0084] 100 Uninstall System

[0085] 110 robotic arm

[0086] 115 clamp

[0087] 120 Loading Plate

[0088] 125 Loading Surface

[0089] 130 object detection units

[0090] 150 control unit

[0091] 400 Methods for Automatically Unloading Objects

[0092] 410 Steps for driving the robot arm and placing the gripper

[0093] 420 Steps for moving the loading plate

[0094] 430 Steps that allow the gripper to apply lateral forces to the object

Claims

1. An unloading system (100) for automatically unloading an object (50), comprising: Robotic arm (110), the robotic arm including gripper (115). Control unit (150); The control unit (150) is configured to drive the robotic arm (110) to place the gripper (115) on the object (50); and The control unit (150) is configured to allow the gripper (115) to apply a lateral force to the object (50) and drive the object (50) to slide onto the loading surface (125).

2. The uninstallation system (100) according to claim 1. The gripper (115) of the robotic arm (110) is a vacuum gripper, a magnetic gripper, a pneumatic gripper, an adhesive gripper, a gecko gripper, a mechanical gripper, or a bionic gripper.

3. The unloading system (100) according to claim 1 or 2. The clamp (115) includes at least one adsorption element; The at least one of the adsorption elements is configured to allow the gripper (115) to grasp the object (50) on the side surface (55) and drive the object (50) to slide directly onto the loading surface (125).

4. The uninstallation system (100) according to any one of the preceding claims. The loading surface (125) is the loading surface of the conveyor, the end-open loading surface, or the loading surface (125) of the loading plate.

5. The unloading system (100) according to any one of claims 1 to 3 further comprises: The loading plate (120) includes the loading surface (125); The control unit (150) is configured to allow the gripper (115) to pull the object (50) to slide onto the loading surface (125) and / or release the object (50) onto the loading surface (125).

6. The uninstallation system (100) according to claim 5. The clamp (115) is located on the same side as the loading plate (120).

7. The unloading system (100) according to claim 5 or 6. The loading plate (120) mentioned above is a movable loading plate; The control unit (150) is configured to move the loading plate (120) and adjust the position of the loading plate (120) based on the position of the object (50) for arranging the loading surface (125) and for allowing the object (50) to slide onto the loading surface (125).

8. The unloading system (100) according to claim 5 or 6 further includes: Object detection unit (130); The object detection unit (130) is configured to detect the position of the object (50); as well as The control unit (150) is configured to move the loading plate (120) based on the detected position of the object (50) for arranging the loading surface (125) and for allowing the object (50) to slide onto the loading surface (125).

9. The uninstallation system (100) according to claim 8. The object detection unit (130) is configured to detect at least one characteristic of the object (50) to determine a region of the side surface (55) of the object (50) for which the gripper (115) is placed. The at least one characteristic of the object (50) includes the size, shape, center of gravity, material type and / or packaging method of the object (50).

10. The uninstallation system (100) according to claim 9. The object (50) is a cardboard box, bag or crate.

11. A robotic arm (110) for use in an unloading system (100) according to any one of claims 1 to 10, the robot comprising: A gripper (115) is configured to be placed on an object (50) and to apply a lateral force to the object (50) for driving the object (50) to slide onto the loading surface (125).

12. A loading plate (120) for use in an unloading system (100) according to any one of claims 1 to 10, said loading plate comprising: Loading surface (125); The loading plate (120) is configured to be movable by means of the control unit (150), and the position of the loading plate (120) is configured to be adjusted based on the position of the object (50) for arranging the loading surface (125) and for allowing the object (50) to slide onto the loading surface (125).

13. Use of an unloading system (100) according to any one of claims 1 to 20 for automatically unloading an object (50) from a container (20) or a container of a truck (10).

14. A method (400) for automatically unloading an object (50) by means of an unloading system (100), comprising the following steps: The robot arm (110) is driven (410) by means of the control unit (150) and the gripper (115) of the robot arm (110) is placed on the object (50); Allow (430) the clamp (115) to apply a lateral force to the object (50) and drive the object (50) to slide onto the loading surface (125).

15. The method of claim 14, further comprising the step of: The loading plate (120) including the loading surface (125) is moved (420) by means of the control unit (150), and the position of the loading plate (120) is adjusted based on the position of the object (50) for arranging the loading surface (125) and for allowing the object (50) to slide onto the loading surface (125).

16. The method of claim 15, further comprising the step of: The position of the object (50) is detected by means of the object detection unit (130) for the movement (420) of the loading plate (120), thereby for arranging the loading surface (125) and for allowing the object (50) to slide onto the loading surface (125).

17. The method of claim 16, further comprising the step of: The object detection unit (130) detects at least one characteristic of the object (50) to determine a region of the side surface (55) of the object (50) for which the gripper (115) is placed. The at least one characteristic of the object (50) includes the size, shape, center of gravity, material type and / or packaging method of the object (50).

18. A computer program comprising machine-readable instructions that, when executed by one or more computers and / or computing instances, cause the one or more computers and / or computing instances to perform the method according to any one of claims 14 to 17.

19. A non-transitory machine-readable data carrier and / or download product having the computer program according to claim 18.

20. One or more computers and / or computing instances having a computer program as described in claim 18 and / or a machine-readable data carrier and / or downloadable product as described in claim 19.

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