Robotic device for unloading cargo and its control method

Abstract

A robotic device for unloading cargo and a method for controlling the same are provided. The robotic device includes a body plate and one or more rods mechanically connected to the body plate, wherein the rods are configured to be variably tilted relative to the body plate.

Description

Technical Field

[0001] The present invention relates to a robot device and a control method thereof. Specifically, it relates to a robot device for unloading a load and a control method thereof.

Background Art

[0002] Logistics means the effective flow of goods, and generally refers to the entire process from the production and shipment of products to transportation, unloading, packaging, and storage. The method of logistics is not particularly limited, but today, most goods are transported through vehicles, ships, airplanes, etc. For this purpose, products are preferentially loaded into a loading space such as a container in the departure area and unloaded from the loading space in the arrival area.

[0003] Since logistics is a factor directly reflected in the production cost of products, various efforts have been made to build a more efficient logistics system. In particular, recently, the scale and importance of the logistics industry have been increasing, and various studies on technologies for individual elements for the automation or semi-automation of cargo loading, unloading, and transportation have been underway.

[0004] Generally, unloading in a broad sense may mean a series of processes and activities for taking out the goods loaded in the loading space and distributing them from the logistics base to the detailed bases or transporting them to the final destination. However, unloading in a narrow sense may sometimes refer only to the process of taking out the goods loaded in the loading space and placing them on the telescopic conveyor. Then, the unloaded goods are moved along the telescopic conveyor and a process for distributing them to the detailed bases is carried out.

[0005] Conventionally, unloading in the above narrow sense is generally carried out depending on human labor. However, directly unloading products by a person is a very strenuous task.

[0006] (Patent Document 1) US10,029,374 B1

[0007] (Patent Document 2) KR10-2269502B1

[0008] (Patent Document 3) US11,465,864B1 [Overview of the project] [Problems that the invention aims to solve]

[0009] For these reasons, Patent Document 1 and others disclose robotic devices for unloading cargo, i.e., loaded goods. These devices primarily use suction plates at the ends of robotic arms to quickly unload the goods.

[0010] However, suction-type unloading methods have several limitations. Patent document 1, for example, assumes that the cargo has a standardized size and shape and is regularly stacked in an aligned state. When transporting large quantities of similar goods, for example in industrial logistics, unloading using suction plates, as described in Patent document 1, can be an effective alternative to the conventional technology.

[0011] On the other hand, unlike industrial logistics, the logistics process leading to the end consumer involves individual loads of goods of non-standard sizes and shapes, meaning they vary in size and shape, and the packaging materials of individual items are also diverse. Furthermore, because the loads vary in size and shape, they are not arranged in a neat manner. Instead, in order to transport more goods at once, loads of various sizes are often mixed together and loaded haphazardly. In particular, loads often collapse and become disorganized during the transportation process.

[0012] In such situations, it is difficult to unload cargo using suction plates as described in Patent Document 1, and the unloading speed is very low. Furthermore, there is a problem in dealing with sudden situations such as failure to suction the goods or the cargo collapsing and falling.

[0013] Furthermore, the technologies disclosed in Patent Document 1 and others presuppose a very high level of image processing technology. That is, it is absolutely necessary for successful adsorption to analyze and derive the optimal position for adsorption from the acquired image and for the adsorption plate to dock precisely at that position. As mentioned above, if the size, shape, and alignment of the load are good, image processing is still possible, but if the load has an irregular size and shape and is not aligned, image processing is impossible, making adsorption and unloading difficult, or making it impossible to respond to sudden situations, resulting in a decrease in image processing speed and / or unloading speed.

[0014] Therefore, the problem that the present invention aims to solve is to provide a robotic device for unloading cargo using a new method different from conventional methods.

[0015] Another problem that the present invention aims to solve is to provide a control method for the robotic device used for unloading the aforementioned cargo.

[0016] Another problem that the present invention aims to solve is to provide a computer program recorded on a recording medium that performs the above method.

[0017] Another problem that the present invention aims to solve is to provide a storage medium containing a program for performing the above method, or an apparatus including such a storage medium.

[0018] Another problem that the present invention aims to solve is to provide a method for unloading cargo using the aforementioned robotic device.

[0019] The problems addressed by the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following description. [Means for solving the problem]

[0020] A robot device according to an embodiment of the present invention for solving the above problems includes a body plate and one or more rods mechanically connected to the body plate, and the rods are configured to be variably tilted with respect to the body plate.

[0021] One horizontal side of the body plate has a groove, and the rod may be disposed within the groove.

[0022] Also, the connection between the rod and the body plate may be a direct or indirect free connection and may be configured to be tilted by at least gravity or an external force.

[0023] A plurality of the rods may be provided, and the tilting of each rod may be independent of each other.

[0024] The robot device is for unloading a load, and a plurality of the rods may be provided, and at least a part of the plurality of rods may be configured to be inserted into a gap between individual goods at the upper end of the load.

[0025] [[ID=J19]] In some embodiments, the robot device may further include a guide rail disposed on the body plate and a carriage configured to be movable along the guide rail and having a rod hole into which the rod is inserted.

[0026] The guide rail may include a first rail portion extending in a certain first direction and a second rail portion connected to the first rail portion and extending in a third direction.

[0027] Further, the carriage includes a guide block that meshes with the guide rail, and at least two guide blocks including a first guide block and a second guide block are inserted into any one of the guide rails. In a certain state, both the first guide block and the second guide block are located on the first rail portion. In a state where the carriage has moved partially, at least one of the plurality of guide blocks may be located on the second rail portion.

[0028] Also, one side of the body plate in the first direction has an indented groove, and in the process of the carriage moving along the guide rail, it may be configured to be linearly movable in the first direction at least partially.

[0029] In the process of tilting the rod, it may be configured to be linearly movable at least partially in a direction intersecting the extension direction of the rod.

[0030] In some embodiments, the robot device may further include a telescopic member fixed to the body plate and the carriage.

[0031] A robot device according to another embodiment of the present invention for solving the above problems is a robot device including a processor that executes a program resident in a memory. The processor acquires image information of the load; moves a first end effector including the body plate and the rod of the robot device to the upper side of the vertical surface of the load; moves a second time so that the end effector moves downward after the first movement; and is configured to perform a third movement so that the end effector retreats after the second movement.

[0032] In the backward movement step, the height of the body plate may be substantially the same as the height in the state where the downward movement has ended.

[0033] A method for unloading cargo according to one embodiment of the present invention to solve the above-mentioned other problems includes preparing a robotic device including a body plate and an end effector including a rod mechanically connected to the body plate; moving the rod to the upper side of the cargo on which individual cargoes are loaded; moving the end effector downward; and moving the end effector backward.

[0034] As a result of the downward or backward movement, at least a portion of the rod may be inserted between the boundaries of individual cargo items.

[0035] During the retraction process, the lower end of the rod may retract while in contact with the upper surface of the load.

[0036] During the retraction process, at least a portion of the rod may be tilted.

[0037] During the retraction process, at least a portion of the rod may move horizontally.

[0038] As a result of the backward movement, at least a portion of the load may be swept out by the rod.

[0039] Specific details of other embodiments are included in the detailed description. [Effects of the Invention]

[0040] According to an embodiment of the present invention, even when the cargo has an irregular size and shape and is loaded in a non-aligned state, a rod can be inserted from the upper vertical surface of the cargo into the gaps between the cargo items, and the cargo can be swept out and unloaded using this rod.

[0041] In particular, since the rod is freely connected on the end effector and its length protruding downwards by external force is variable, the rod can be effectively inserted into the gaps between the loads even when the upper vertical surface of the load is irregular.

[0042] Furthermore, by configuring the rod so that the degree of tilting, i.e., the degree of inclination, can be varied by external forces, it is possible to prevent the rod from being subjected to a load that would make it difficult to unload the load in one go, and to estimate the load applied to the end effector by the loaded material. Through the aforementioned free tilting structure, it is possible to prevent damage to the robotic device, and in particular damage to the loaded material (cargo), during the process of sweeping and unloading.

[0043] The effects of the embodiments of the present invention are not limited to those exemplified above, and various other effects are included herein. [Brief explanation of the drawing]

[0044] [Figure 1] This is a hardware configuration diagram of a robot device according to one embodiment of the present invention.

[0045] [Figure 2] Figure 1 is a perspective view of the robotic device.

[0046] [Figure 3] Figure 1 is a logical configuration diagram of the robot device.

[0047] [Figure 4] Figure 2 is a perspective view showing the end effector of the robotic device.

[0048] [Figure 5] This is a magnified view of area A in Figure 4.

[0049] [Figure 6] Figure 5 is an exploded perspective view of the end effector.

[0050] [Figure 7] This is a flowchart illustrating a control method for a robot device according to one embodiment of the present invention.

[0051] [Figure 8] This is a schematic diagram illustrating the process of unloading cargo using the robotic device according to this embodiment under certain circumstances. [Figure 9] This is a schematic diagram illustrating the process of unloading cargo using the robotic device according to this embodiment under certain circumstances. [Figure 10] This is a schematic diagram illustrating the process of unloading cargo using the robotic device according to this embodiment under certain circumstances. [Figure 11] This is a schematic diagram illustrating the process of unloading cargo using the robotic device according to this embodiment under certain circumstances. [Figure 12] This is a schematic diagram illustrating the process of unloading cargo using the robotic device according to this embodiment under certain circumstances. [Figure 13] This is a schematic diagram illustrating the process of unloading cargo using the robotic device according to this embodiment under certain circumstances. [Figure 14] This is a schematic diagram illustrating the process of unloading cargo using the robotic device according to this embodiment under certain circumstances.

[0052] [Figure 15] This is a schematic diagram showing the process of unloading cargo using the robotic device according to this embodiment in other situations. [Figure 16] This is a schematic diagram showing the process of unloading cargo using the robotic device according to this embodiment in other situations. [Figure 17] This is a schematic diagram showing the process of unloading cargo using the robotic device according to this embodiment in other situations. [Figure 18] This is a schematic diagram showing the process of unloading cargo using the robotic device according to this embodiment in other situations. [Figure 19] This is a schematic diagram showing the process of unloading cargo using the robotic device according to this embodiment in other situations. [Figure 20] This is a schematic diagram showing the process of unloading cargo using the robotic device according to this embodiment in other situations. [Figure 21]This is a schematic diagram showing the process of unloading cargo using the robotic device according to this embodiment in other situations. [Figure 22] This is a schematic diagram showing the process of unloading cargo using the robotic device according to this embodiment in other situations. [Figure 23] This is a schematic diagram showing the process of unloading cargo using the robotic device according to this embodiment in other situations.

[0053] [Figure 24] This is a perspective view of an end effector according to another embodiment of the present invention.

[0054] [Figure 25] This is a magnified view of area A in Figure 24.

[0055] [Figure 26] Figure 25 is an exploded perspective view of the end effector.

[0056] [Figure 27] This is a schematic diagram showing the process by which the rod of the end effector according to the embodiment in Figure 24 is tilted. [Figure 28] This is a schematic diagram showing the process by which the rod of the end effector according to the embodiment in Figure 24 is tilted. [Figure 29] This is a schematic diagram showing the process by which the rod of the end effector according to the embodiment in Figure 24 is tilted.

[0057] [Figure 30] This is a magnified view of a part of an end effector according to yet another embodiment of the present invention.

[0058] [Figure 31] Figure 30 is an exploded perspective view of the end effector.

[0059] [Figure 32] Figure 30 is a side view of the end effector. [Modes for carrying out the invention]

[0060] The advantages and features of the present invention, and methods for achieving them, will become apparent upon reference to the embodiments described below in detail with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and can be realized in a variety of different forms. The embodiments are provided merely to complete the disclosure of the present invention and to fully inform those who are ordinaryly skilled in the art to which the invention pertains, and the present invention is defined only by the scope of the claims.

[0061] Furthermore, the claims are not matters that describe the technical content that constitutes the substance of the invention, but rather matters that indicate the scope of rights claimed based on the technical configuration disclosed in the detailed description of the invention. Therefore, it is somewhat inevitable that the claims will consist of abstract, higher-level concepts that include the technology disclosed in the detailed description of the invention, and if a person skilled in the art can understand the technical configuration belonging to the claims, their combination, and their effects throughout the entire specification, then the claims should be considered to be supported by the detailed description of the invention.

[0062] In other words, various modifications can be made to the embodiments presented in this invention. The embodiments described below are not intended to limit themselves to the embodiments, but should be understood to include all modifications, equivalents, or substitutes thereto.

[0063] If any term used herein is intended to be used with a specific meaning, that meaning may be defined and used accordingly, and it must be interpreted in that way. Unless otherwise defined, all terms used herein (including technical and scientific terms) may be used with a meaning that can be commonly understood by a person of ordinary skill in the art to which the present invention pertains. Furthermore, terms defined in commonly used dictionaries should not be interpreted ideally or excessively unless explicitly defined otherwise.

[0064] In this specification, “and / or” includes each of the items mentioned and all combinations of one or more of them. The singular form also includes the plural form unless otherwise specified in the text. “Comprises” and / or “comprising” as used herein do not exclude the presence or addition of one or more other components besides those mentioned. Numerical ranges indicated using “~” include the values ​​listed before and after them as the lower and upper limits, respectively. “Approximately” or “about” means a value or range within 20% of the value or range listed thereafter.

[0065] In this specification, ordinal modifiers such as "first component," "second component," and "1-1 component" are used merely to distinguish one component from another. Therefore, what is referred to as the first component below may be referred to as the second component within the scope of the technical idea of ​​the present invention. For example, what is referred to as the first component in one embodiment may be referred to as the second component in another embodiment. Furthermore, what is referred to as the first component in the description of the invention may, of course, be referred to as the second component in the claims.

[0066] The size, thickness, width, length, etc., of the illustrated components may be exaggerated or reduced for the sake of clarity and ease of explanation, and the present invention is not limited to the illustrated form.

[0067] Spatially relative terms such as "above," "upper," "on," "below," "beneath," and "lower" can be used to easily describe the correlation between one element or component and another, as illustrated. Spatially relative terms should be understood as terms that include not only the illustrated direction but also the different directions of the elements in use. For example, if the illustrated elements are flipped over, an element described as "below or beneath" another element may be located "above" the other element. Therefore, the illustrative term "down" can include both the down and up directions.

[0068] The present invention will be described in detail below with reference to the attached drawings.

[0069] Figure 1 is a hardware configuration diagram of a robot device according to one embodiment of the present invention. Figure 2 is a perspective view of the robot device of Figure 1.

[0070] Referring to Figures 1 and 2, the robot device 10 according to this embodiment includes a joint unit 200, an end effector 100 positioned at the end of the joint unit 200, and a processor 310, and may further include a memory 320, a camera module 410, a sensor module 420, and a communication module 430. That is, the robot device 10 can be understood as a computing device including the processor 310 and the memory 320, and the robot device 10 including the processor 310 can be understood as the entity that performs the control method described later.

[0071] The joint unit 200 may be provided for the movement of the end effector 100 of the robot device 10. The joint unit 200 may have 6 degrees of freedom, 4 degrees of freedom, or 3 degrees of freedom. That is, the joint motors of the joint unit 200 can control the coordinate of the end effector 100 in a first direction X (e.g., X coordinate), a second direction Y (e.g., Y coordinate), a third direction Z (e.g., Z coordinate), and / or rotation coordinates (RX, RY, RZ) relative to the x, y, and / or Z axes. Figure 2 shows an example of the joint unit 200, but its shape is not particularly limited as long as it is a joint unit that can adjust the coordinates of the end effector 100.

[0072] In the following explanation, we will use the example where the first direction X and the second direction Y are the directions to which the horizontal plane belongs, and the third direction Z is parallel to the direction of gravity, but of course, the terminology used in the claims is not limited to this.

[0073] The joint unit 200 may include a joint base 210 (or robot base) and a joint section 230. The drive of the joint motor of the joint section 230 may be controlled by a processor 310, which will be described later. The joint base 210 refers to the part or position that serves as the reference point for the movement of the joint unit 200. In the following description, an example will be given where the load to be unloaded (not shown) is located on one side of the robot device 10 or the joint base 210 in the first direction X. Furthermore, when the end effector 100 moves backward, it means that the end effector 100 moves toward the joint base 210, in other words, to the other side of the first direction X, at least in the position toward the first direction X. When the end effector 100 moves forward, it means that the end effector 100 moves toward the load, in other words, to one side of the first direction X, at least in the position toward the first direction X. Alternatively, forward may be one side of the first direction X, and backward may be the other side of the first direction X.

[0074] Although not shown in the drawing, a conveyor (not shown) may be placed between the load (not shown) and the articulated base 210. As will be described later, individual objects (cargo) partially swept out by the action of the end effector 100 may fall onto the conveyor and be transported by the conveyor to the other side in the first direction X.

[0075] The end effector 100 may be a part that directly contributes to the unloading of the load by the robotic device 10 according to this embodiment, that is, to sweeping the load out from the upper end of the vertical surface. The end effector 100 may include a body plate 110 and a plurality of rods 130 mechanically connected to the body plate 110. The end effector 100 will be described in detail later.

[0076] The processor 310 can implement operations and / or functions related to the method according to the present invention based on instructions from software that embodies the method according to the present invention and resides in the memory 320. That is, the processor 310 can be understood as a programmed entity. For example, it can execute software to control hardware and / or software components connected to the processor 310 and perform data processing or calculations. That is, as part of data processing or calculations, the processor 310 can store instructions or data received from other components in the memory 320, process instructions or data stored in the memory 320, and store result data in the memory 320. The processor 310 may be a known one, but may be implemented, for example, through an ASIC (Application-Specific Integrated Circuit), or other chipsets, logic circuits, and / or data processing devices.

[0077] Memory 320 can store various data used for at least one component. This data may include input or output data for software and related instructions. Memory 320 may include volatile memory and / or non-volatile memory. For example, volatile memory may be of known type, but may be embodied through ROM (Read-Only Memory), RAM (Random Access Memory), flash memory, memory cards, storage media and / or other storage devices.

[0078] Non-volatile memory, such as storage, can store application programming interfaces (APIs), libraries, resource files, etc., necessary for the execution of software embodying the method according to this embodiment. It can also store the software embodying the method and databases. The contents of various databases required to perform operations and / or functions related to the method according to the present invention, as described later, can be understood.

[0079] The camera module 410 can collect image information of target objects, particularly loads (not shown), outside or around the robot device 10. A known camera module 410 can be used. The camera module 410 can be controlled by the image acquisition unit 311, which will be described later.

[0080] The sensor module 420 can measure various physical quantities related to the robot device 10, sense the operating state of the robot device 10, and convert the measured data into electrical signals for output. The sensor module 420 may include acceleration sensors, angular velocity sensors, geomagnetic sensors, gesture sensors, proximity sensors, illuminance sensors, color sensors, magnetic sensors, barometric pressure sensors, and / or light sensors. The physical quantities measured by the exemplified sensors and the methods of measurement thereof can be those of known origin. Alternatively, the exemplified sensors may be configured in combination of multiple units.

[0081] Figure 1 shows the camera module 410 and sensor module 420 included in the robot device 10 and as separate components from the joint unit 200 and end effector 100. However, the present invention is not limited thereto, and the camera module 410 and sensor module 420 may be understood as being coupled to and included in the joint unit 200 and / or end effector 100.

[0082] The communication module 430 can assist in establishing a wired / wireless communication channel between the robot device 10 and other external computing devices, such as a control terminal (not shown), a server (not shown), or other hardware components, and in performing communication over the established communication channel. The communication module 430 may include a wired communication module or a wireless communication module. An example of a wired communication module is a LAN communication module. A wireless communication module can send and receive data over a communication network. Examples of such communication networks include shared wired communication networks such as Ethernet®, Digital Subscriber Line (xDSL), Hybrid Fiber Coax (HFC), and Fiber To The Home (FTTH). Other examples of such communication networks include mobile communication networks such as Code Division Multiple Access (CDMA), Wideband CDMA (WCDMA), High Speed ​​Packet Access (HSPA), and Long Term Evolution (LTE). Alternatively, the wireless communication module may include Wi-Fi® modules, Bluetooth® modules, NFC® modules, and other near-field communication modules.

[0083] The various components of the robot device 10 described above, as shown in Figure 1, are connected via a data bus, and data can be transmitted between each component via the data bus. Furthermore, as described above, the robot device 10, which embodies the operation and / or function associated with the method according to the present invention based on software instructions that embody the control method according to the present invention, including the processor 310, can also be understood or described in terms of functional or logical elements.

[0084] Figure 3 is a logical configuration diagram of the robot device shown in Figure 1.

[0085] Referring further to Figure 3, the robot device 10 (or its processor 310) may include an image acquisition unit 311, a work area determination unit 312, a joint unit control unit 313, and a sensing unit 319. The roles and functions of each unit will be described later, along with the control method according to this embodiment. However, the logical configuration of the robot device 10 according to the present invention is not limited thereto, and various logical configurations for realizing the aforementioned hardware and the methods described later are disclosed herein.

[0086] The various components shown in Figure 3 may be embodied by various means, such as hardware, firmware, software, or a combination thereof. That is, the "~part" in Figure 3 may be used to mean a hardware configuration such as a processor or circuit, and / or a software configuration executed by the hardware configuration.

[0087] Specifically, in the case of hardware embodiment of a component referred to as "~part," it may be embodied through the aforementioned processor. Alternatively, in the case of firmware or software embodiment, it may be embodied in the form of a module, code, code segment, procedure, function, etc., containing instructions to perform the described function or operation, and may be recorded on a recording medium readable via various computer means. Here, the recording medium may include program instructions, data files, data structures, etc., either alone or in combination. In this case, each component on the configuration diagram or block diagram may mean a module, segment, or part of code containing one or more executable instructions for performing a specified logical function. Therefore, the function provided by a component on the configuration diagram or block diagram may be embodied by a further subdivided number of components, or the number of components on the configuration diagram or block diagram may be embodied by a single integrated component. That is, within the scope of the object of the present invention, each component can be selectively combined with one or more others to operate. Furthermore, all components may be embodied as separate hardware units, or some or all of the components may be selectively combined to form a computer program having program modules that perform some or all of the combined functions in one or more hardware units. The code and code segments constituting the computer program can be easily inferred by an ordinary person skilled in the art of the present invention.

[0088] In this specification, program instructions recorded on a recording medium may be specifically designed and configured for the present invention, or may be publicly known and available to those skilled in the field of computer software. For example, recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical media such as CD-ROMs (Compact Disk Read Only Memory) and DVDs (Digital Video Disks); magneto-optical media such as floptical disks; and hardware devices specifically configured to store and execute program instructions, such as ROMs, RAMs, and flash memory. Examples of program instructions may include not only machine code, such as that produced by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like. Such hardware devices may be configured to operate as one or more software programs to perform the operations of the present invention, and vice versa.

[0089] The end effector 100 of the robot device 10 according to this embodiment will be described in more detail below.

[0090] Figure 4 is a perspective view showing the end effector of the robot device in Figure 2. Figure 5 is a magnified view of area A in Figure 4. Figure 6 is an exploded perspective view of the end effector in Figure 5. More specifically, Figure 6 is an exploded perspective view showing a single unit structure.

[0091] Referring further to Figures 4 to 6, the end effector 100 of the robot device 10 according to this embodiment includes a body plate 110 and a rod 130 mechanically coupled to the body plate 110, and may further include a hinge unit 150.

[0092] The body plate 110 (or frame) may be a plate-shaped member that forms the body of the end effector 100. The shape of the body plate 110 is not particularly limited, but it may have a shape that extends in the second direction Y so that a plurality of rods 130 can be arranged in the second direction Y, as will be described later. The material of the body plate 110 is not particularly limited, but it may be made of a material with high strength and rigidity, such as metal.

[0093] One side of the body plate 110 in the first direction X (the lower left end side with reference to Figure 4) may have an indented plate groove 110g. That is, one side edge of the body plate 110 in the first direction X may have a groove.

[0094] The plate grooves 110g, like the rods 130, can be arranged repeatedly in the second direction Y. Any one of the multiple plate grooves 110g can contribute to the formation of a single unit structure together with the rods 130, etc., which will be described later. The plate grooves 110g can provide space for the rods 130 placed inside them to move or rotate on at least one side of the first direction X. The end effector 100 can operate with the plate grooves 110g arranged generally toward the direction of the load (not shown). That is, in the following description, we will explain using the example where one side of the first direction X (towards the lower left end with reference to Figure 4) refers to the load side, or in other words, the front side, and the other side of the first direction X (towards the upper right end with reference to Figure 4) refers to the joint base 210 side, or in other words, the rear side. However, the present invention is not limited thereto, and of course the end effector 100 can be coupled to the end of the joint unit 200 so that its coordinates, rotation direction, etc., can be changed.

[0095] An articulated joint 110s may be provided on the other side edge of the body plate 110 in the first direction X. The articulated joint 110s may be configured to provide a planar space to which the second direction Y and the third direction Z generally belong, and to which a connecting member such as a bolt passes through and connects to the end of the articulated unit 200.

[0096] The rod 130 (or pin, or bar) can be mechanically connected to the body plate 110. That is, when the coordinates, rotational direction, etc., of the body plate 110 are changed by the joint unit 200, the rod 130 can move together with the body plate 110 and change its position. The connection between the rod 130 and the body plate 110 will be described later.

[0097] A hinge unit 150 may be positioned on the body plate 110. The hinge unit 150 may include a hinge bracket 151 (or hinge base) and a hinge block 153. The hinge unit 150 may be configured such that the rods 130 are tilted relative to the body plate 110 in a plane perpendicular to or intersecting the arrangement direction of the multiple rods 130, for example, in the plane to which the first direction X and the third direction Z belong.

[0098] The hinge bracket 151 may be fixedly positioned on the upper surface of the body plate 110. The hinge bracket 151 may be provided in pairs and positioned spaced apart in a plan view, with one plate groove 110g in between, but the present invention is not limited thereto.

[0099] The hinge block 153 can be inserted between a pair of hinge brackets 151 spaced apart in a second direction Y. With the hinge brackets 151 fixed on the body plate 110, the hinge block 153 can be configured to rotate in the planes to which the first direction X and the third direction Z belong, with respect to the hinge brackets 151. For example, the hinge block 153 includes a hinge pin portion 153p, which can be inserted into a hinge hole 151h of the hinge bracket 151. However, the present invention is not limited thereto, and of course, a shaft or the like may be used to form the axis of rotation.

[0100] The hinge block 153 may have a rod hole 153h. The rod hole 153h can penetrate the hinge block 153 in a third direction Z. A rod 130 can be inserted into the rod hole 153h, at least partially. The rod 130 may be configured such that the lower end of the rod 130 is inserted into the rod hole 153h, but the rod head 130a is not, by including a rod head 130a at the upper end in the third direction Z. That is, the rod head 130a can function as a stopper that provides a limit to the insertion of the rod 130.

[0101] In some embodiments, the hinge unit 150 may further include a bushing member 155 coupled to the hinge block 153. The bushing member 155 may be embodied in a linear bushing or the like, but the present invention is not limited thereto. As will be described later, the rod 130 may be able to move vertically upward and downward in a third direction Z while inserted into the hinge block 153. In this case, the bushing member 155 may be further included to facilitate the vertical movement of the rod 130. Specifically, the bushing member 155 may be at least partially inserted into the rod hole 153h of the hinge block 153, and the rod 130 may be inserted into the bushing hole 155h of the bushing member 155.

[0102] Through the aforementioned structure, the body plate 110 and the rod 130 are connected, and the hinge block 153 and the rod 130 can be tilted relative to the hinge bracket 151 and the body plate 110. The effects of this will be described in detail later.

[0103] In this specification, even if the rod 130 does not form a direct mechanical connection with the body plate 110, it can be understood that the body plate 110 and the rod 130 are mechanically connected if mechanical components are interposed, such as when the body plate 110 is connected to the hinge unit 150 and the hinge unit 150 is connected to the rod 130.

[0104] In an exemplary embodiment, in a given state, the rod 130 can be positioned at least partially within the plate groove 110g of the body plate 110. This allows the rod 130 to overlap the body plate 110 with the horizontal direction to which the first direction X and the second direction Y belong, either in a given state or always.

[0105] As a result, in a side view, and in a certain state, the rod 130 can be positioned at least partially below the lower surface (or one surface, or first surface) of the body plate 110, and at least partially above the upper surface (or other surface, or second surface) of the body plate 110.

[0106] In other words, the rod 130 can partially protrude below the lower surface of the body plate 110, and at the same time, the rod 130 can partially protrude above the upper surface of the body plate 110. In this case, the rod 130 may be configured such that the length of the protrusion on a certain surface of the body plate 110, for example, the lower surface, is variable. For example, the rod 130 can be freely coupled to the body plate 110 and / or other structures fixed on the body plate 110 (other components, for example, a hinge unit 150).

[0107] In this specification, "freely coupled" means that a configuration is coupled in such a way that it can behave together without being disassembled by mechanical constraints between them, but that the relative position between the configuration can be changed by gravity and / or other external forces, even without the provision of additional power.

[0108] For example, as shown in Figure 4, when the third direction Z is parallel to the direction of gravity, the rod 130 can hang downwards due to gravity. And, as mentioned above, the rod head 130a can prevent the rod 130 from moving any further downwards.

[0109] Furthermore, if a force greater than that applied to the lower end of the rod 130 in the direction opposite to gravity, the rod 130 can be pushed upward and move vertically linearly while maintaining its mechanical connection with the body plate 110. In this case, it can be understood that the length of the rod 130 protruding to the lower surface of the body plate 110 decreases.

[0110] Furthermore, if the force applied to the lower end of the rod 130 disappears, the rod 130 can again sag downwards due to gravity and move vertically in a linear fashion. At this time, it can be understood that the length of the rod 130 protruding to the lower surface of the body plate 110 increases.

[0111] To give another example, as shown in Figure 4, in a certain state, the rod 130 can hang downwards due to gravity while extending in the direction of gravity.

[0112] Furthermore, if a horizontal force is applied to a certain position on the rod 130, for example, to one side of the first direction X, the rod 130 inserted into the hinge block 153 can be tilted together with the hinge block 153 in the plane to which the first direction X and the third direction Z belong. As previously mentioned, the axis of tilting rotation in this case is formed by the hinge block 153 and the hinge bracket 151.

[0113] Furthermore, if the tilting force on the rod 130 disappears, the rod 130 can be restored to its original state and extend in a third direction Z (e.g., the direction of gravity). While this restoration can be performed by the center of gravity of the rod 130 and gravity, a separate non-powered configuration can also be provided for releasing the tilt of the rod 130 and restoring it.

[0114] In an exemplary embodiment, for the purpose of restoration, the end effector 100 may further include an expandable member 195 and a fixing structure 191 for securing the expandable member 195. The expandable member 195 has a contracted state in its initial state, its length is extended by an external force, and when the external force disappears, it can contract again to its initial state or approximately thereto. An example of the expandable member 195 is a spring or the like.

[0115] One end of the expandable member 195 can be connected to the fixed end 153r of the hinge block 153. The other end of the expandable member 195 can be fixed on the body plate 110. Specifically, a fixing structure 191 is fixedly positioned on the body plate 110, and the other end of the expandable member 195 can be connected and fixed to the fixing structure 191. An example of the fixing structure 191 is shown using an eye bolt.

[0116] In some embodiments, a load cell (not shown) may be provided at one end of the expandable member 195, for example, at the other end. For example, the fixing structure 191 may include a load cell. The load cell can be used to measure the tensile force or load applied to the expandable member 195. The load cell may be controlled by or provide input values ​​to the sensing unit 319. The load cell can be understood as one of the sensor modules 420.

[0117] In the initial state of the telescopic member 195, i.e., the maximum contracted state, the extension direction of the rod 130 and one or the other surface of the body plate 110 can be approximately perpendicular or at an angle of ±10%. If a horizontal force is applied to a certain position on the rod 130, despite the contraction force of the telescopic member 195, the hinge block 153 rotates, causing the rod 130 to tilt, and the telescopic member 195, to which the hinge block 153 and its end are connected, can extend. Therefore, when the external force tilting the rod 130 is removed, the contraction force of the telescopic member 195 causes the hinge block 153 to be subjected to a force that attempts to rotate it back to its initial state, thereby restoring the extension direction of the rod 130.

[0118] This embodiment illustrates the use of an expandable member 195 as a means for restoring the tilting of the rod 130, but the present invention is not limited thereto, and of course, a variety of other restoration structures may be adopted by ordinary technicians.

[0119] On the other hand, a reference load can be set for the rod 130 to tilt using the elasticity of the telescopic member 195. For example, if a force of approximately 1 kgf is applied to one rod 130, the external force may not reach a level sufficient to stretch the telescopic member 195, and the rod 130 may not tilt. Conversely, if a force of approximately 5 kgf is applied to one rod 130, the external force may rotate the hinge block 153 despite the contraction force of the telescopic member 195. In other words, the rod 130 of the end effector 100 of the robot device 10 according to this embodiment may be configured to tilt when a load equal to or exceeding the reference load is applied, and not to tilt when a load that does not reach or is below the reference load is applied.

[0120] As described in detail above, the body plate 110 and the rod 130 can move together without being disassembled by forming a mechanical connection between them. However, if a force is applied to the rod 130 in the third direction Z and / or in the horizontal direction, specifically in the first direction X, the rod 130 may move vertically in the up-and-down direction or tilt with respect to the body plate 110.

[0121] As a non-restrictive example, the end effector 100 does not have to be provided with a separate power source or power transmission system for the behavior of the rod 130 itself, nor a control unit for it. For example, it does not have to be provided with a shifter, roller, etc. for the vertical movement of the rod 130. Another example is that it does not have to be provided with a mechanical structure for extending or retracting the length of the rod 130 itself. Yet another example is that it does not have to be provided with a gear or similar configuration near the hinge unit 150 for the rotation of the rod 130. In other words, the rod 130 is configured to move vertically or tilt only by gravity or external force, and not by electrical signals from the processor 310.

[0122] Furthermore, although the rod 130 is configured so that its protrusion length to the lower and upper surfaces of the body plate 110 is variable, the length of the rod 130 itself is not configured to extend or retract. That is, when the rod 130 moves vertically downward, the protrusion length to the lower surface increases, and at the same time, the protrusion length to the upper surface decreases by the same amount as the increase in the protrusion length. The same can be understood when the rod 130 moves vertically upward. In other words, in any case, the length of the rod 130 in the third direction Z can be substantially maintained.

[0123] The control method for the robot device according to this embodiment will be described in more detail below with further reference to Figure 7. Figure 7 is a flowchart showing the control method for a robot device according to one embodiment of the present invention.

[0124] First, referring further to Figure 7, the control method for the robot device according to this embodiment is a method performed by a processor 310, or a robot device 10 including at least one processor 310, and includes the steps of controlling the initial posture (S100), acquiring an image of the loading area (S110), analyzing the acquired image or video to select a work area (S120), and moving the end effector 100 (S131, S132, S133), and may further include the steps of determining whether or not reversal is possible (S191), and determining the state of the rod (S192).

[0125] First, the step of controlling the initial posture (S100) can mean setting the coordinates, rotation direction (RX, RY, RZ), etc. of the joint unit 200 and the end effector 100 thereon to their initial state.

[0126] The image acquisition unit 311 can then acquire image information using a camera module 410 or the like (S110). Specifically, it can acquire image information that allows confirmation of the arrangement and layout between the unloaded object, the cargo, or its surrounding structures and the cargo.

[0127] Subsequently, the work area determination unit 312 can derive the area, position, or coordinates in which work will be performed using the end effector, based on the acquired image information (S120).

[0128] Specifically, the system can derive an image of the cargo from a top-down elevation view from the collected image information, and then derive the boundaries of individual cargo (objects) from the top-down view image. Furthermore, it can recognize the gaps between the derived object boundaries.

[0129] If multiple gaps are recognized, one of the gaps within a pre-set working range that takes into account the range of motion of the joint unit 200, for example, within a distance that can be entered in the first direction X, can be defined as the working area. More specifically, if multiple gaps exist within the working range, the gap furthest forward in the first direction X can be defined as the working area.

[0130] Subsequently, the joint unit control unit 313 controls the joint motor of the joint unit 200 to move the end effector 100 forward to one side of the first direction X, backward to the other side of the first direction X, move in the second direction Y (i.e., the width direction), or raise or lower in the direction of gravity (i.e., the third direction Z) (S131). Alternatively, the end effector 100 can be rotated in the three-dimensional spatial coordinate system. Refer further to Figure 8 and other figures in connection with this.

[0131] Figure 8 is a schematic diagram showing step (S131) ​​in which the joint unit control unit 313 controls the joint unit 200 to move the end effector 100 to the vicinity of the work area. Figure 9 is a schematic diagram of the state in Figure 8 as seen from the first direction X side. Figures 8 and 9 show the moment when the end effector 100 has partially descended and the lower end of one of the rods 130 (second rod 132) touches the upper surface of one of the objects (second object B2) that is at the highest height among the multiple loads B1, B2, B3, B4, B5.

[0132] In other words, step S131 may partially include the end effector 100 descending to the lower side in the third direction Z, and the descent in step S131 may be distinguished from the descent in the descent step S132 described later.

[0133] Referring further to Figures 8 and 9, in step S131, the end effector 100 can move forward at least to one side in the first direction X and be positioned on the loads B1, B2, B3, B4, B5. For example, the end effector 100 can move so as to overlap with the loads B1, B2, B3, B4, B5 in the third direction Z (direction of gravity) (S131).

[0134] Furthermore, although not shown in the drawings, in step S131, the end effector 100 can move at least partially in the second direction Y, i.e., in the width direction, to correspond to the previously set work area. Also, in step S131, the end effector 100 can simultaneously move at least partially in the third direction Z, i.e., in the height direction or in the direction of gravity, but the present invention is not limited thereto.

[0135] In other words, the step of moving the end effector 100 near the work area (S131) ​​is a step of positioning the end effector 100 on the upper side of the set work area, and may include a step of moving forward at least to one side of the first direction X.

[0136] Furthermore, depending on the position of the end effector 100 in the initial posture step S100, the end effector 100 may move in the second direction Y to correspond to the coordinate of the second direction Y of the work area, and / or if the position of the end effector 100 in the initial posture step S100 is low, the end effector 100 may partially rise in the third direction Z, and if the position of the end effector 100 in the initial posture step S100 is high, the end effector 100 may partially descend in the third direction Z, or it may rise and descend one or more times each to position the end effector 100 at the top of the work area. In addition, depending on the position of the joint base 210, the end effector 100 may perform roll rotation, pitch rotation and / or yaw rotation.

[0137] Figures 8 and 9 show a state in which no external force is applied to the multiple rods 131, 132, and 133, and they are all hanging downwards due to gravity. Furthermore, among the first object B1, second object B2, and third object B3 that form the upper ends of the vertical surfaces of the loaded objects B1, B2, B3, B4, and B5, the upper end of the second object B2 is at the highest height.

[0138] Subsequently, the joint unit control unit 313 controls the joint motor of the joint unit 200 to lower the end effector 100 in the third direction Z, that is, downward in the direction of gravity (S132).

[0139] Figure 10 is a schematic diagram showing step (S132) in which the joint unit control unit 313 controls the joint unit 200 to lower the end effector 100. Figure 11 is a schematic diagram of the state shown in Figure 10, viewed from the first direction X side.

[0140] Referring further to Figures 10 and 11, in step S132, the rod 130 can be lowered so that at least a portion of the load B1, B2, B3, B4, B5 overlaps with the rod horizontally (S132).

[0141] Figure 10 illustrates a case where, as a result of the descent of the end effector 100, a rod is immediately inserted between the boundaries of individual objects, specifically, the first rod 131 is inserted into the gap between the first object B1 and the fifth object B5, and the third rod 133 is inserted into the gap between the third object B3 and the object adjacent to the third object B3 in the first direction X, but the present invention is not limited thereto. As a result of the descent movement step S132, none of the rods 130 may be inserted into any gap, and the lower ends of all the rods 130 may be in contact with the upper surface of the object.

[0142] In the exemplary embodiment, one or more of the multiple rods 131, 132, 133, for example, the first rod 131, can descend in the third direction Z and be positioned to overlap with the first object B1 in the first direction X.

[0143] At this time, there exists a fourth object B4 that is adjacent to and overlapping with the first object B1 in the first direction X, and the first rod 131 overlaps with the fourth object B4 in the third direction Z, so that at some moment during the downward process of the end effector 100, the lower end of the first rod 131 can come into contact with the upper surface of the fourth object B4. Then, as the end effector 100 continues to descend, the first rod 131 is supported by the fourth object B4 and cannot descend any further, and as a result, the first rod 131 can be pushed upwards on the end effector 100. In other words, the length of the first rod 131 protruding downwards from the body plate 110 can be reduced.

[0144] In this state, the first rod 131 can be positioned overlapping with the first object B1 in the first direction X, and overlapping with the fourth object B4 in the third direction Z. Specifically, the lower end of the first rod 131 may be in contact with the upper surface of the fourth object B4. Also, the first object B1 and the fifth object B5 may be separated in the first direction X with the first rod 131 in between.

[0145] Furthermore, if one or more of the multiple rods 131, 132, and 133, for example, the second rod 132, descends in the third direction Z, and the second rod 132 and the second object B2 overlap in the third direction Z, then at some point during the descent of the end effector 100, the lower end of the second rod 132 can come into contact with the upper surface of the second object B2. Then, as the end effector 100 continues to descend, the second rod 132 is supported by the second object B2 and cannot descend any further, and as a result, the second rod 132 can be pushed upwards on the end effector 100. In other words, the length of the second rod 132 protruding downwards from the body plate 110 can be reduced.

[0146] As described above, in the elevation shapes of the loads B1, B2, B3, B4, and B5, specifically in the elevation at a certain position in the first direction X of the loads B1, B2, B3, B4, and B5, the second object B2 can form the highest height level. As a result, the second rod 132 is pushed up to a greater extent than the first rod 131, and the downward protrusion length of the second rod 132 can be the shortest.

[0147] In this state, the second rod 132 can be positioned overlapping with the second object B2 in the third direction Z. Specifically, the lower end of the second rod 132 may be in contact with the upper surface of the second object B2. Furthermore, there is no load overlapping the second rod 132 in the horizontal direction.

[0148] Furthermore, one or more of the multiple rods 131, 132, 133, for example, the third rod 133, can descend in the third direction Z and be positioned to overlap with the third object B3 in the first direction X.

[0149] In this case, there are no objects adjacent to the third object B3 in the first direction X, and therefore there are no objects that interfere with and come into contact with the lower end of the third rod 133 during the descent process of the end effector 100. In other words, there is no configuration that comes into contact with the lower end of the third rod 133 to support the third rod 133 and move the third rod 133 linearly upward, so even if the end effector 100 moves downward to a predetermined height, the third rod 133 can not be pushed up. In other words, the length of the third rod 133 protruding downward from the body plate 110 can remain substantially the same as the initial state without decreasing.

[0150] In this state, the third rod 133 can be positioned to overlap with the third object B3 in the first direction X.

[0151] To explain the effects of the end effector 100 according to this embodiment, Figure 10 and others illustrate an example where the loaded items B1, B2, B3, B4, and B5 are arranged in a specific state.

[0152] In other words, as described above, when the end effector 100, which includes the freely connected rods 130, descends, some first rods 131 may be partially pushed up due to interference with the loaded objects B1, B2, B3, B4, and B5, but may form a superimposed state with a certain first object B1 in the first direction X, while other second rods 132 may be partially or completely pushed up, but may not have any objects superimposed on them in the first direction X. Furthermore, yet another third rod 133 may not be pushed up and may form a superimposed state with a certain third object B3 in the first direction X.

[0153] Subsequently, the joint unit control unit 313 controls the joint motor of the joint unit 200 to retract the end effector 100 to the other side in the first direction (S133).

[0154] Figures 12 to 14 are schematic diagrams sequentially showing the steps (S133) in which the end effector 100 retracts.

[0155] During the retraction step S133, as the end effector 100 retracts, the height (i.e., coordinate) of the body plate 110 in the third direction Z may be substantially the same as the height in the third direction Z at the end of the aforementioned descent step S132. In other words, the end effector 100 and body plate 110 can retract in the first direction X while maintaining their coordinate in the third direction Z. During this process, the position of a portion of the rod 130 in the third direction Z may change depending on the height of the upper end of the vertical surface of the load.

[0156] Referring further to Figures 12 to 14, when the end effector descends first and objects (first object B1 and third object B3) are positioned so as to overlap with the rod in the first direction X, if the end effector 100 retracts to the other side of the first direction X, the first object B1 and third object B3, which interfere with the rod 130, can be swept to the other side of the first direction X. On the other hand, since there are no objects superimposed and interfering with the second rod 132 in the first direction X, it does not contribute to sweeping, i.e., unloading cargo.

[0157] In this regard, Figure 12 shows that the end effector 100 retracts, the lower end of the second rod 132 contacts the upper surface of the second object B2 and retracts on the upper surface of the second object B2, while the first rod 131 and the third rod 133 push at least the first object B1 and the third object B3 backward, respectively. Figure 13 shows that the end effector 100 retracts further, the second rod 132 moves so that it does not overlap with the second object B2 in the third direction Z, thereby eliminating the force that was supporting the second rod 132, and the second rod 132 hangs down again in the direction of gravity. Figure 14 shows that the end effector 100 retracts even further, and the first object B1 and the third object B3 are pushed down by the first rod 131 and the third rod 133.

[0158] In the embodiments shown in Figures 10 to 14 above, a portion of the rod 130 is inserted into the gap as a result of the downward movement step S132. However, in other embodiments, none of the rods 130 are inserted into the gap as a result of the downward movement step S132, and at least a portion of the rods are inserted into the gap between objects separated in the first direction X during the process of retracting in the first direction X during the retraction movement step S133, so that a certain rod and object overlap in the first direction X, and the interfering object can be swept.

[0159] As explained above with reference to Figures 8 to 14, the end effector 100 according to this embodiment includes a plurality of rods 130, and can sweep objects (loads) that interfere with each rod 130 in the first direction X to the other side of the first direction X.

[0160] In particular, by configuring each of the multiple rods 130 to be pushed up independently in the third direction Z and to have a variable protruding length, some rods (i.e., the first rod 131 and the third rod 133) can be inserted into the gaps between individual objects formed at the upper end of the load, and if there is no gap, some rods (i.e., the second rod 132) can be configured to be pushed up.

[0161] Unlike the present invention, if the rods are configured so that their protruding length is not adjustable, in other words, if all of the rods have the same length of downward protrusion, and the load is not aligned and therefore the gap is not uniform, then interference between the rods and the objects will prevent the rods from being inserted into the gaps between the objects.

[0162] On the other hand, we will now explain the effects that arise from the configuration of rod 130 to be tilted. In this regard, please refer further to Figure 15, etc.

[0163] Figure 15 is a schematic diagram showing the step (S131) ​​in which the joint unit control unit 313 controls the joint unit 200 to move the end effector 100 to the vicinity of the work area, which is generally similar to Figure 8. Specifically, Figure 15 shows the moment when the end effector 100 has partially descended and the lower end of one of the rods 130 touches the upper surface of one of the objects B1, B2, B3, B4, B5 that is located at the highest position.

[0164] Figure 15 shows a state in which no external force is applied to the multiple rods 131, 132, and 133, and they are all hanging downwards due to gravity. Step S131 has been explained in detail with Figure 8 and other figures, so a redundant explanation will be omitted.

[0165] Figure 16 is a schematic diagram showing the step (S132) in which the joint unit control unit 313 controls the joint unit 200 to lower the end effector 100, similar to Figure 10. Figure 17 is a schematic diagram of the behavior of a certain first rod 131 as seen from the second direction Y side in the state shown in Figure 16, and Figure 18 is a schematic diagram of the behavior of a certain third rod 133 as seen from the second direction Y side in the state shown in Figure 16.

[0166] Referring further to Figures 16 to 18, in step S132, the rod 130 can be lowered so that at least a portion of the load B1, B2, B3, B4, B5, B6 overlaps with the rod horizontally (S132).

[0167] Specifically, one or more of the multiple rods 131, 132, 133, for example, the first rod 131, can be positioned to descend in the third direction Z and overlap with the first object B1 in the first direction X.

[0168] At this time, the first rod 131 overlaps with the fourth object B4 in the third direction Z, and at a certain moment during the descent of the end effector 100, the lower end of the first rod 131 can come into contact with the upper surface of the fourth object B4 and be pushed up. In other words, the length of the first rod 131 protruding below the body plate 110 can be reduced.

[0169] In this state, the first rod 131 can be positioned overlapping with the first object B1 in the first direction X, and overlapping with the fourth object B4 in the third direction Z. This state has been explained with Figure 10 and other figures, so a redundant explanation will be omitted.

[0170] Furthermore, if one or more of the multiple rods 131, 132, and 133, for example, the second rod 132, descends in the third direction Z, and the second rod 132 and the second object B2 overlap in the third direction Z, then at some moment during the descent of the end effector 100, the lower end of the second rod 132 can come into contact with the upper surface of the second object B2 and be pushed up. In other words, the length of the second rod 132 protruding below the body plate 110 can be reduced.

[0171] In this state, the second rod 132 is positioned overlapping with the second object B2 in the third direction Z, and there is no load overlapping the second rod 132 horizontally. This state has been explained with Figure 10 and other figures, so a redundant explanation will be omitted.

[0172] Furthermore, one or more of the multiple rods 131, 132, 133, for example, the third rod 133, can be positioned to descend in the third direction Z and overlap with the third object B3 in the first direction X. In some embodiments, the third object B3 may be placed on the sixth object B6, and the third rod 133 may partially overlap with the sixth object B6 in the first direction X.

[0173] In this case, there is no object overlapping with the third rod 133 in the third direction Z, or at least no object interfering with it in the third direction Z, and the third rod 133 is not pushed up. In other words, the downward protrusion length of the third rod 133 may be substantially the same as the initial state without decreasing.

[0174] In this state, the third rod 133 can be positioned overlapping with the third object B3 in the first direction X. This state has been explained with Figure 10 and other figures, so a redundant explanation will be omitted.

[0175] Subsequently, the joint unit control unit 313 controls the joint motor of the joint unit 200 to retract the end effector 100 to the other side in the first direction (S133).

[0176] Figure 19 is a schematic diagram showing the state in which the end effector 100 retracts and the lower end of the second rod 132 retracts on the upper surface of the second object B2. Figure 20 is a schematic diagram of the behavior of a certain first rod 131 as seen from the second direction Y side in the state shown in Figure 19, and Figure 21 is a schematic diagram of the behavior of a certain third rod 133 as seen from the second direction Y side in the state shown in Figure 19.

[0177] Referring further to Figures 19 to 21, the retraction of the end effector 100 can cause certain objects (third object B3 and / or sixth object B6) to be swept and pushed backward in the first direction X due to interference with the rod 133, while other objects (first object B1) may not be pushed out despite interference with the rod 131.

[0178] Specifically, if the combined loads of the third object B3 and the sixth object B6, or the loads they each apply to the third rod 133, do not reach or are less than the reference load, the third rod 133 can push out the third object B3 and the sixth object B6 while maintaining its initial position without substantially tilting, or while tilted to a slight degree.

[0179] Conversely, if the load on each of the rods 130 is greater than or equal to the standard load allowed by the first object B1, or if the first object B1 has a weight exceeding the standard load, the first rod 131 may tilt without pushing out the first object B1. For example, as shown in Figure 19, if the standard load on one rod is 3 kgf and two rods interfere with the first object B1, the first rod 131 may tilt if the first object B1 applies a greater load to the rod. Furthermore, the tilt of the first rod 131 causes the vector in the first direction X of the action / reaction force between the first rod 131 and the first object B1 to gradually decrease in the backward direction of the end effector 100, i.e., the vector of the first direction X, and the force with which the first rod 131 pushes out the first object B1 can also be naturally reduced.

[0180] On the other hand, as mentioned above, the second rod 132 does not contribute to sweeping, i.e., unloading cargo, because there are no objects superimposed and interfering with it in the first direction X.

[0181] In connection with this, Figure 22 shows the end effector 100 retracting further and the first rod 131 tilting further, and Figure 23 shows the end effector 100 retracting even further and the first rod 131 moving so that it does not overlap with the first object B1 in the third direction Z, thereby eliminating the horizontal force that was applied to the first rod 131, causing the first rod 131 to hang down again in the direction of gravity, and the third object B3 etc. to be pushed down by the third rod 133.

[0182] As explained above with reference to Figures 15 to 23, the end effector 100 according to this embodiment includes a plurality of rods 130, but when a horizontal force greater than the reference load is applied to the rods 130, each of the plurality of rods 130 is configured to tilt independently of each other, thereby preventing the sweeping of objects that may be damaged among the multiple loads swept at once.

[0183] In practice, when unloading a load of irregularly shaped objects that are not aligned and vary in size and weight, there may be objects that are too heavy to be swept by the rods 130. In this case, if the objects are swept forcibly, the joint units 200 of the robot device 10 may be damaged, or the heavy cargo may be damaged. Therefore, rather than forcibly sweeping the first object B1, this step (try) can be configured to sweep only the third object B3 and the sixth object B6, and then the work area can be readjusted so that more rods interfere with the heavy first object B1, before attempting to sweep again.

[0184] In some embodiments, the sensing unit 319 can determine whether or not the end effector 100 can be retracted (S191). As described above, the rods 130 may be configured to tilt if a horizontal force exceeding a preset reference load or greater than the reference load acts on each rod 130. When the rods 130 are tilted, despite the horizontal force, the actual load on the rods 130 gradually decreases, and if the rods 130 are completely bent laterally, no load may be applied at all. That is, the reference load (e.g., a first reference load) acts as a reference for determining the tilting of the rods 130 and can be mechanically designed by the elastic force of the telescopic member 195, the coupling structure, etc. When the rods 130 are tilted, the first vector of action / reaction in the X direction decreases due to the retraction of the end effector 100, and the force on each rod 130 decreases, so that a load exceeding the reference load is not applied to the rods 130, or to the telescopic members 195 connected for the restoration of the rods 130, or to the fixed structure 191 or load cell mechanically fixed to the telescopic members 195. In other words, under conditions where tilting of the rods 130 is possible, the tilting reduces the load applied to each rod 130, so that a load exceeding the first reference load is not applied to each rod 130.

[0185] However, in unloading environments where objects of various sizes, weights, and shapes are loaded without alignment, interference with surrounding structures can prevent smooth tilting even when a force exceeding the first reference load is applied to the rod 130. In this case, the first reference load may be continuously applied, or the reduction in this load may not be sufficient despite the tilting.

[0186] Therefore, the sensing unit 319 can be used to determine whether reversal is possible by measuring whether a load equal to or greater than a reference load (e.g., a second reference load) or exceeding the second reference load is applied to each rod 130, or to other components capable of measuring or estimating the load on the rods 130, such as a load cell. Here, the second reference load is not the load at which tilting of the rods 130 begins, but rather a criterion presented for determining whether reversal is possible or successful, and may be a value predetermined to embody the control method of the robot device 10. For example, the second reference load may be the same as the first reference load or even greater.

[0187] To give a non-restrictive example, even if the end effector 100 is mechanically designed so that the rods 130 tilt when a load of 3 kgf (i.e., first reference load) or more is applied to each rod 130, if it is determined that a force of 3.5 kgf (i.e., second reference load) is applied to any rod 130 as a result of or after the retraction step S133 of the end effector 100, it may be determined that retraction is impossible or that the retraction step S133 should be interrupted.

[0188] If it is determined that retraction is not possible, the joint unit control unit 313 can perform the steps described above in reverse order, for example, returning to the initial posture control step S100, including the process of moving the end effector 100 upward.

[0189] On the other hand, if the force applied to each rod 130 does not exceed the second reference load and the end effector 100 is determined to have successfully retracted, the sensing unit 319 can determine the position state of the rod 130 in the third direction Z (S192).

[0190] As described above, the rod 130 can interfere with the upper end of the load and be pushed upward. When the end effector 100 retracts while the rod 130 is moving upward (S133), the interference with the load that pushes the rod 130 upward disappears, and the external force applied to the upper side in the third direction Z is removed. As a result, the rod 130 should hang down again due to gravity. However, for some reason, the rod 130 may not hang down and may maintain its upward position. Even if the unloading operation is performed again in this state, efficient unloading, i.e., sweeping, will not occur.

[0191] Alternatively, if the end effector 100 retracts while the rod 130 is tilted (S133), the horizontal force applied to the rod 130 is removed, and the rod 130 should hang down again due to gravity. However, for some reason, the rod 130 may not hang down and may remain tilted. If the unloading operation is performed again in this state, the tilted rod may cause interference, preventing normal unloading.

[0192] To this end, the sensing unit 319 determines whether the rod 130 has moved vertically downward in a normal manner after the retraction step S133, or whether the tilt state of the rod 130 has been released (S192). If the rod 130 has hung down normally, the previous process can be repeated. On the other hand, if it is determined that the rod 130 has not hung down normally, an alarm can be provided to the user, or an external force can be provided by shaking the end effector 100, causing the rod 130 to move downward due to gravity and the tilt state to be released.

[0193] Although not shown in the drawings, for step S192, the end effector 100 may include a sensor capable of sensing the vertical position of the rod 130. In a non-limiting example, the sensor may be mounted on the top of the hinge block 153 and may be implemented in a manner that measures the distance to the rod head 130a or detects the presence or absence of contact. In several other embodiments, the end effector 100 may further include a sensor capable of sensing the degree of tilting of the rod 130. Examples of sensors for performing step S192, as non-limiting examples, include optical sensors.

[0194] Other embodiments of the present invention will be described below. However, descriptions of configurations that are substantially identical or very similar to those described above will be omitted, as this can be clearly understood by a person of the ordinary skill in the art from the accompanying drawings and the description of the previous embodiments.

[0195] Figure 24 is a perspective view of an end effector according to another embodiment of the present invention. Figure 25 is an enlarged view of area A in Figure 24. Figure 26 is an exploded perspective view of the end effector in Figure 25.

[0196] Referring to Figures 24 to 26, the end effector 101 of the robot apparatus according to this embodiment includes a body plate 110 and a rod 130 mechanically coupled to the body plate 110, but differs from the robot apparatus and its end effector according to the previously described embodiment in that it further includes a guide rail 171 and a carriage 180. As a result, the rod 130 does not rotate around the hinge as an axis, but moves along the guide rail 171 and can be configured to be at least partially horizontally movable. As previously mentioned, the robot apparatus including the end effector 101 according to this embodiment may further include joint units, processors, and the like.

[0197] The guide rails 171 can be fixedly positioned on the upper surface of the body plate 110. The guide rails 171 are provided in pairs and can be spaced apart in a second direction Y across one plate groove 110g in a plan view.

[0198] The guide rail 171 can provide a slit-shaped rail. The guide block 183 of the carriage 180, described later, can be inserted into the slit of the guide rail 171, providing a path for the carriage 180 to move. Specifically, the guide rail 171 or the slit of the guide rail 171 may include a first rail section 171a extending in one direction (e.g., generally in the first direction X) and a second rail section 171b extending in another direction (e.g., generally in the third direction Z), and may have a bent structure rather than a straight slit. It may also further include a curved third rail section connecting the first rail section 171a and the second rail section 171b, which extend in different directions from each other. The second rail section 171b may be connected to one end of the first rail section 171a in the first direction X. In other embodiments, the second rail portion 171b may not extend in the third direction Z, but may extend in a direction intersecting the first direction X in the plane to which the first direction X and the third direction Z belong.

[0199] In other words, with the guide block 183 inserted into the first rail section 171a, the carriage 180 can move horizontally in the first direction X, and with the guide block 183 inserted into the second rail section 171b, the carriage 180 can move horizontally in the third direction Z.

[0200] In the initial state, for example, when the carriage 180 is pulled by the telescopic member 195 as described later, all or part of the guide blocks 183 of the carriage 180, for example, at least two guide blocks 183a and 183b, may both be located within the first rail section 171a and not within the second rail section 171b.

[0201] The carriage 180 includes a movable plate 181 (or a movable body, or a transport member) and at least two guide blocks 183, and may further include a bushing member 185 and a fixed end 181r.

[0202] The movable plate 181 may have a rod hole 181h. The rod hole 181h can penetrate the movable plate 181 in a third direction Z. A rod 130 can be inserted into the rod hole 181h, at least partially.

[0203] The bushing member 185 can be coupled to the movable plate 181. As described above, the rod 130 can move vertically linearly upward and downward in the third direction Z while inserted into the movable plate 181. Therefore, a bushing member 185, for example, a linear bushing, can be provided to assist the linear movement of the rod 130. Specifically, the bushing member 185 can be at least partially inserted into the rod hole 181h of the movable plate 181, and the rod 130 can be inserted into the bushing hole 185h of the bushing member 185.

[0204] Multiple guide blocks 183, including a first guide block 183a and a second guide block 183b, may be arranged on the side surface of the movable plate 181. Here, the first guide block 183a and the second guide block 183b may be spaced apart in the first direction X. Figure 26, for example, illustrates a case where the first guide block 183a is provided in a pair spaced apart in the second direction Y, and the second guide block 183b is provided in a pair spaced apart in the second direction Y, resulting in a total of four guide blocks 183. That is, the first guide block 183a and the second guide block 183b refer to guide blocks arranged in the first direction X on one side of the movable plate 181 in the second direction Y.

[0205] The guide block 183, including the first guide block 183a and the second guide block 183b, is inserted into the slits provided by the guide rail 171, i.e., the first rail section 171a, the second rail section 171b, and the third rail section, and can roll or slide along its extension. As a non-limiting example, the guide block 183 may have a substantially circular shape and may be embodied by bearings, but of course the present invention is not limited thereto.

[0206] In some embodiments, the end effector 101 may further include an expandable member 195 and a fixing structure 191 for securing the expandable member 195. The expandable member 195 has a contracted state in its initial state, its length is extended by an external force, and when the external force disappears, it can contract again to its initial state or approximately thereto. An example of the expandable member 195 is a spring.

[0207] One end of the expandable member 195 can be connected to the fixed end 181r of the carriage 180. The other end of the expandable member 195 can be fixed on the body plate 110. Figure 25, for example, illustrates a case where an eyebolt is provided as the fixing structure 191, and the other end of the expandable member 195 is connected and fixed to the fixing structure 191. As mentioned above, the fixing structure 191 may have a built-in load cell, or a load cell may be provided to measure the tensile force applied to the expandable member 195 connected to the fixing structure 191.

[0208] In this embodiment, the end effector 101 has a rod 130 that is inserted into the rod hole 181h of the carriage 180, specifically the movable plate 181, allowing it to move linearly in the third direction Z. That is, the protruding length of the rod 130 to one side of the body plate 110 is variable. The structure and meaning of the free connection between the rod 130 and the body plate 110, and the changes in the protruding length due to gravity and other external forces, have been explained in detail in the previous embodiment, so a redundant explanation will be omitted.

[0209] Furthermore, the rod 130 can be tilted by including a guide rail 171, which includes a first rail section 171a and a second rail section 171b, and a carriage 180, with rails extending at least partially in different directions from each other. The process of tilting the rod 130 will be described below with further reference to Figures 27 to 29.

[0210] Figures 27 to 29 are schematic diagrams showing the process by which the rod of the end effector according to the embodiment of Figure 24 is tilted, and are schematic diagrams of the end effector of Figure 25 viewed from the side.

[0211] Referring further to Figure 27, in the initial state, the first guide block 183a and the second guide block 183b of the carriage 180 are located within the first rail portion 171a of the guide rail 171, and the rod 130 can hang down in approximately the third direction Z, i.e., downward in the direction of gravity. That is, the first guide block 183a and the second guide block 183b are at substantially the same height, the moving plate 181 is also placed approximately horizontally, and the rod 130 inserted into the moving plate 181 can be directed downward in the direction of gravity. In addition, the telescopic member 195 can be in its maximum contracted state, preventing the movement of the carriage 180.

[0212] Referring further to Figure 28, if a horizontal force is applied to a certain position on the rod 130, specifically at a position in the extension direction of the rod 130 (third direction Z), for example, to one side of the first direction X, both the rod 130 and the carriage 180 into which the rod 130 is inserted can move horizontally linearly to one side of the first direction X. Figure 28 shows the case where the rod 130 moves horizontally without tilting compared to the initial state. That is, in the state shown in Figure 28, both the first guide block 183a and the second guide block 183b can be positioned within the first rail section 171a.

[0213] Furthermore, referring to Figure 29, if a continuous horizontal force is applied to a certain position on the rod 130 to the extent that the telescopic member 195 can be extended, the rod 130 and the carriage 180 into which the rod 130 is inserted can move along the curved rail section (third rail section) connecting the first rail section 171a and the second rail section 171b, and along the second rail section 171b. At this time, as the first rail section 171a and the second rail section 171b extend in different directions from each other, the carriage 180 transporting the rod 130 can move in a direction different from the extension direction of the first rail section 171a (first direction X). As a result, the extension direction of the rod 130 inserted into the carriage 180 can be tilted in a direction intersecting the third direction Z.

[0214] Figure 29 illustrates a case where the first guide block 183a is located within the second rail section 171b and the second guide block 183b is located approximately within the third rail section. However, the arrangement is not particularly limited as long as the first guide block 183a and the second guide block 183b are located at different heights relative to each other in the third direction Z, allowing the carriage 180 to be tilted. For example, the first guide block 183a may be located within the second rail section 171b and the second guide block 183b may be located within the first rail section 171a, or both the first and second guide block 183b may be located within the second rail section 171b.

[0215] In this specification, "tilted" or "inclined" means not only tilting due to rotation with respect to a single point, but also rotation after horizontal movement, or tilting compared to the initial state as a result of motion including curvilinear motion.

[0216] On the other hand, if the horizontal force disappears, or if the horizontal force is not sufficiently transmitted to the rod 130 due to the tilting of the rod 130 as shown in Figure 29, in other words, if the external force applied to the rod 130 is removed, or if only a force smaller than the contraction force of the telescopic member 195 is applied, the contraction force of the telescopic member 195 can cause the carriage 180 to move back to its original position along the guide rail 171, and the extension direction of the rod 130 can be restored to the third direction Z.

[0217] The end effector 101 according to this embodiment can be configured such that the carriage 180 into which the rod 130 is inserted includes at least two guide blocks 183, namely a first guide block 183a and a second guide block 183b, and even when the guide blocks 183 move along the first rail portion 171a and force is applied to the rod 130, it moves horizontally without rotation around a single point. In other words, the horizontal force does not act as torque and can contribute to the horizontal movement of the carriage 180.

[0218] Then, after horizontal movement, at least some of the multiple guide blocks 183, for example, the first guide block 183a, move in a curved motion along the third rail section and the second rail section 171b, and the first guide block 183a and the second guide block 183b are positioned at different heights in the third direction Z, thereby allowing the rod 130 and carriage 180 to be tilted.

[0219] In other words, in the state shown in Figure 27 where no external force is applied, a horizontal force is applied, and the process progresses from the state shown in Figure 28 where both the first guide block 183a and the second guide block 183b are located within the first rail section 171a, to the state shown in Figure 29 where the first guide block 183a has entered the interior of the second rail section 171b. During at least a portion of this process (i.e., the process from Figure 27 to Figure 28), the rod 130 and the carriage 180 can move horizontally in the first direction X.

[0220] As described in conjunction with the previous embodiment, the end effector 101 according to this embodiment can control the reference load for tilting the rod 130 using the expandability and coupling position of the expandable member 195. The reference load for tilting the rod 130 can be an important factor from the viewpoint of preventing damage to the robotic device and cargo.

[0221] If, unlike in this embodiment, the rod 130 rotates and tilts around a single point, the force acting on the rod 130 to tilt may change due to the lever principle, depending on the position where the horizontal force is applied to the rod 130. For example, if a horizontal force is applied to the lower end of the rod 130, even if this horizontal force is smaller than the reference load, a large torque may act near the axis of rotation due to the lever principle, causing the rod 130 to tilt. To give another example, if a horizontal force is applied to the upper end of the rod 130, even if this horizontal force is larger than the reference load, a small torque may act near the axis of rotation due to the lever principle, causing the rod 130 not to tilt.

[0222] In other words, the difference in the longitudinal position of the rod 130 to which a horizontal force is applied, and the resulting lever principle, can lead to unintended tilting or failure to tilt, regardless of the setting of a reference load. However, as in this embodiment, by configuring the rod 130 and the carriage 180 that transports the rod 130 to move at least horizontally linearly during a certain process in which the rod 130 is tilted in the initial state, particularly immediately after a horizontal force is applied in the initial state, the lever principle can be prevented from acting, and the occurrence and prevention of tilting due to the set reference load can be realized with greater reliability.

[0223] Figure 30 is an enlarged view of a part of an end effector according to yet another embodiment of the present invention. Figure 31 is an exploded perspective view of the end effector of Figure 30. Figure 32 is a side view of the end effector of Figure 30.

[0224] Referring to Figures 30 to 32, the end effector 102 of the robot apparatus according to this embodiment includes a body plate 110, a rod 130, a guide rail 171, and a carriage 180. However, the guide block 183 of the carriage 180 is positioned off-center to the other side of the first direction X, which is a difference from the robot apparatus and its end effector according to the previously described embodiment. As mentioned above, the robot apparatus including the end effector 102 according to this embodiment may further include joint units, a processor, and the like.

[0225] As previously mentioned, the carriage 180 includes a movable plate 181 and a first guide block 183a and a second guide block 183b positioned on one side of the movable plate 181 in the second direction Y, and has a rod hole 181h that penetrates the movable plate 181 in the third direction Z.

[0226] In this case, the first guide block 183a and the second guide block 183b can be positioned biased toward the other side of the first direction X (towards the upper right end with respect to Figure 30). For example, if, among a plurality of guide blocks arranged on one side of the movable plate 181 in the second direction Y, the guide block positioned furthest toward the one side of the first direction X is called the first guide block 183a, and the guide block positioned furthest toward the other side of the first direction X is called the second guide block 183b, then the first distance from the first guide block 183a to the edge of the movable plate 181 in the first direction X may be significantly larger than the second distance from the second guide block 183b to the edge of the movable plate 181 in the other side of the first direction X. To give an unrestrictive example, the first distance may be more than twice, more than three times, or more than four times the second distance.

[0227] Furthermore, in a plan view of the multiple guide blocks, for example, the center point between the first guide block 183a and the second guide block 183b can be located on the other side of the first direction X than the position of the rod 130 or the rod hole 181h (for example, the midpoint of the rod hole 181h).

[0228] In a more specific embodiment, the position of the first guide block 183a, which is located furthest to one side of the first direction X among the multiple guide blocks, can be located on the other side of the first direction X than the position of the rod 130 or the rod hole 181h.

[0229] On the other hand, as mentioned above, in the initial state when no external force is applied to the rod 130, both the first guide block 183a and the second guide block 183b are inserted into the first rail portion 171a. In the initial state, and in the plan view to which the first direction X and the third direction Z belong, the rod 130 can overlap with the second rail portion 171b, at least partially.

[0230] The above description has focused on embodiments of the present invention. However, these are merely illustrative examples and do not limit the invention. Anyone with ordinary skill in the art to which the present invention belongs will understand that various modifications and applications not exemplified above are possible, as long as they do not deviate from the essential characteristics of the embodiments of the present invention.

[0231] Therefore, the scope of the present invention should be understood to include modifications, equivalents, or substitutes of the technical concept exemplified above. For example, each component specifically shown in the embodiments of the present invention can be modified and implemented. Such modifications and differences relating to applications should be interpreted as being within the scope of the present invention as defined in the appended claims.

Claims

1. Body plate and The body plate includes one or more rods mechanically connected to it, The rod is configured to be variably tilted relative to the body plate in the robotic device.

2. The robotic apparatus according to claim 1, wherein one horizontal side of the body plate has a groove, and the rod is positioned within the groove.

3. The robotic device according to claim 1, wherein the connection between the rod and the body plate is a direct or indirect free connection and is configured to be tilted by at least gravity or an external force.

4. The robotic device according to claim 3, wherein a plurality of the aforementioned rods are provided, and the tilt of each rod is independent of each other.

5. The aforementioned robotic device is for unloading cargo, Multiple rods are provided, The robotic device according to claim 1, wherein at least a portion of the plurality of rods is configured to be insertable into the gaps between individual cargo at the upper end of the load.

6. A guide rail positioned on the aforementioned body plate, The robotic apparatus according to claim 1, further comprising a carriage configured to be movable along the guide rail and having a rod hole into which the rod is inserted.

7. The robot device according to claim 6, wherein the guide rail includes a first rail portion extending in a first direction and a second rail portion connected to the first rail portion and extending in a third direction.

8. The carriage includes a guide block that engages with the guide rail, At least two guide blocks, including a first guide block and a second guide block, are inserted into any one of the guide rails. In a certain state, both the first guide block and the second guide block are located on the first rail portion. The robotic apparatus according to claim 7, wherein, when the carriage is partially moved, at least one of the plurality of guide blocks is located on the second rail portion.

9. One side of the body plate in the first direction has a curved groove, The robotic apparatus according to claim 6, wherein the carriage is configured to be able to move linearly in a first direction, at least partially, during the process of moving along the guide rail.

10. The robotic apparatus according to claim 1, wherein the rod is configured to be able to move linearly in a direction intersecting the extension direction of the rod, at least partially, during the process of tilting the rod.

11. The robotic apparatus according to claim 6, further comprising the body plate and a telescopic member fixed to the carriage.

12. A robotic device including a processor that executes a program resident in memory, wherein the processor Acquire image information of the cargo, The end effector, including the body plate and rod of the robot device, is first moved to the upper vertical side of the load. After the first movement, the end effector moves downward in a second movement. A robotic device configured to perform a third movement after the second movement described above, such as retracting the end effector.

13. The robot device according to claim 12, wherein in the backward movement step, the height of the body plate is substantially the same as the height when the downward movement is completed.

14. A robotic device is prepared that includes a body plate and an end effector including a rod mechanically connected to the body plate. Move the rod to the upper side of the load on which the individual cargo is loaded. The end effector is moved downward, A method for unloading cargo, including moving the end effector backward.

15. The method according to claim 14, wherein as a result of the downward or backward movement, at least a portion of the rod is inserted between the boundaries of individual cargoes.

16. The method according to claim 14, wherein, during the retraction process, the lower end of the rod retracts while in contact with the upper surface of the load.

17. The method according to claim 14, wherein at least a portion of the rod is tilted during the retraction process.

18. The method according to claim 14, wherein at least a portion of the rod moves horizontally during the retraction process.

19. The method according to claim 14, wherein as a result of the backward movement, at least a portion of the load is swept and unloaded by the rod.

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