Method and system for optimal cargo-loading by measuring center of gravity

Abstract

The present invention relates to an optimal cargo loading method and system using a center of gravity measurement technique, and more specifically, to a method for measuring the center of gravity and performing optimal cargo loading by aligning the measured center of gravity, and a system for performing such a method. According to the present invention, a method for measuring the size and center of gravity of a cargo and reflecting this to load the cargo in a stable form so that the loaded cargo does not collapse, and a system for performing such a method are provided.

Description

Technology Field

[0001] The present invention relates to an optimal cargo loading method and system using a center of gravity measurement technique, and more specifically, to a method for measuring the center of gravity and performing optimal cargo loading by aligning the measured center of gravity, and a system for performing such a method. Background Technology

[0002] The logistics industry plays an indispensable role in individuals' daily lives and in the sales and production of businesses. Recently, the industry has been undergoing smartification and automation by applying cutting-edge technologies of the Fourth Industrial Revolution to all logistics processes to enhance speed and efficiency. Furthermore, as global e-commerce continues to grow, logistics centers are required to possess the capacity to manage a greater volume of logistics. This is also important from a safety perspective; according to safety and health training materials for delivery workers provided by the Korea Occupational Safety and Health Agency, major risk factors in cargo sorting operations include falling accidents, such as stacked cargo and cargo collapsing from forklifts.

[0003] The most common safety accidents by type are falls, drops, and entrapment. In the transportation and warehousing industry, these accidents occur when workers collide with hand or electric jacks in confined spaces where the floor is frozen, such as in cold storage warehouses, while transporting and loading goods. Due to the nature of the logistics industry, these accidents cause injuries ranging from minor to major, ranging from bruises to fractures and amputations.

[0004] Therefore, recognizing this problem, the automation of the logistics industry is gradually being achieved by combining various loading algorithms, such as the Shelf algorithm and Mexrects algorithm, with advanced technologies of the Fourth Industrial Revolution. However, these algorithms focus on how much cargo can be accommodated within a limited space without considering the center of gravity of the cargo, resulting in issues with loading stability. Prior art literature

[0005] (Patent Document 0001) US 2018-0184966 A1 (Patent Document 0002) US 2018-0272531 A1 The problem to be solved

[0006] The present invention was devised to solve such problems, and aims to provide a method for loading cargo in a stable form that does not collapse by measuring the size and center of gravity of the cargo and reflecting this, as well as a system for performing such a method. means of solving the problem

[0007] To achieve the above objective, the method of optimally loading cargo using the center of gravity measurement technique according to the present invention (hereinafter referred to as the 'cargo loading system') by using the center of gravity measurement technique comprises: (a) a step in which a robot unit of the cargo loading system transports a cargo (hereinafter referred to as the 'load') to be loaded at a loading location (hereinafter referred to as the 'loading location') to a center of gravity measurement scale of the cargo loading system; (b) a step in which the loading control device measures the center of gravity of the cargo on the coordinate system of the center of gravity measurement scale from the weight of the cargo detected by the load cell of the center of gravity measurement scale; (c) a step in which a camera of the cargo loading system photographs the cargo; (d) a step in which the loading control device of the cargo loading system measures the size of the cargo using the photographed image; (e) a step in which the center of gravity of the cargo on the coordinate system of the center of gravity measurement scale is converted to the center of gravity of the cargo on the camera reference coordinate system; and, (f) a step of transferring the load to the loading position, and if there is an existing load at the loading position, loading the load on top of the existing load, with the center of gravity aligned with that of the existing load, and in step (b), the x-coordinate of the center of gravity is, The y-coordinate of the center of gravity is, The z-coordinate of the center of gravity is, It is calculated as follows, where L and T are the width and length of the plate of the center of gravity measuring scale, respectively, and F1, F2, F3, and F4 are the forces measured by the four load cells of the center of gravity measuring scale, respectively. , and, where θ is the angle from the horizontal plate to the center of gravity of the load, and is the sum of the forces measured by the load cell of the line segment that acts as a hinge on the opposite side of the lifted line segment when one side of the plate is lifted and tilted.

[0008] Prior to the above step (a), (a0) the step of transferring the load into an area (hereinafter referred to as the 'robot operating area') where each robot arm of the robot part can grasp and transfer the load may be further included.

[0009] The above camera may be a depth camera capable of measuring the height of the load.

[0010] The above step (d) may include: (d1) a step of performing image binarization on the image of the load; (d2) a step of performing deblurring processing on the image; (d3) a step of detecting the outline and vertices of the load; (d4) a step of measuring the depth of the load; and (d5) a step of calculating the size of the load.

[0012] delete

[0013] delete

[0014] delete

[0015] delete

[0016] delete

[0017] delete

[0018] delete

[0019] According to another aspect of the present invention, an optimal cargo loading system using a center of gravity measurement technique comprises: a plate; a center of gravity measuring scale having a plurality of load cells that detect the weight of a cargo (hereinafter referred to as "load") placed on the plate and convert it into an electrical signal; a robot unit that performs the function of transferring the load to the center of gravity measuring scale and transferring the load from the center of gravity measuring scale to a loading position (hereinafter referred to as "loading position"); and a camera that photographs the load. and, the loading control device includes a loading control device that measures the size of the load from an image of the load captured by the camera, measures the center of gravity of the load in the coordinate system of the center of gravity measuring scale from the weight information of the load detected by the load cell, converts the center of gravity of the load in the coordinate system of the center of gravity measuring scale into the center of gravity of the load in the camera reference coordinate system, controls the loading transfer and loading process of the robot unit, and, at this time, if an existing load exists at the loading location, controls the loading to be loaded on the existing load, aligning the center of gravity with that of the existing load, and when the center of gravity is measured by the loading control device, the x-coordinate of the center of gravity is, The y-coordinate of the center of gravity is, The z-coordinate of the center of gravity is, It is calculated as follows, where L and T are the width and length of the plate of the center of gravity measuring scale, respectively, and F1, F2, F3, and F4 are the forces measured by the four load cells of the center of gravity measuring scale, respectively. , and, where θ is the angle from the horizontal plate to the center of gravity of the load, and is the sum of the forces measured by the load cell of the line segment that acts as a hinge on the opposite side of the lifted line segment when one side of the plate is lifted and tilted.

[0020] The above robot unit may be composed of a 6-axis robot equipped with a robot arm.

[0021] The optimal cargo loading system using the above-described center of gravity measurement technique may further include a load cell indicator that performs the role of transmitting an electrical signal detected by the load cell to the loading control device.

[0022] The optimal cargo loading system using the above-described center of gravity measurement technique may further include a cargo transfer unit that performs the role of transferring the cargo into an area (hereinafter referred to as the 'robot operating area') where each robot arm of the robot unit can grasp and transfer the cargo.

[0023] The above camera may be a depth camera capable of measuring the height of the load.

[0025] delete

[0026] delete

[0027] delete

[0028] delete

[0029] delete

[0030] delete Effects of the invention

[0031] According to the present invention, there is an effect of providing a method for measuring the size and center of gravity of a cargo and reflecting this to load the cargo in a stable form so that the loaded cargo does not collapse, and a system for performing such a method. Brief explanation of the drawing

[0032] FIG. 1 is a diagram showing the configuration of a system for implementing an optimal cargo loading method using the center of gravity measurement technique of the present invention. FIG. 2 is a drawing showing the form of an embodiment of a robot part in a system for implementing an optimal cargo loading method using the center of gravity measurement technique of the present invention. FIG. 3 is a drawing showing, as an example, the shape of a cargo loaded by an optimal cargo loading method using the center of gravity measurement technique of the present invention. FIG. 4 is an overall flowchart for performing an optimal cargo loading method using the center of gravity measurement technique of the present invention. Figure 5 is a flowchart detailing the process of measuring the size of a cargo. FIG. 6 is a diagram showing a camera coordinate system. Figure 7 is a diagram showing the configuration of a center of gravity measuring scale. FIG. 8 is a diagram illustrating the method for finding the x and y coordinates of the center of gravity. FIG. 9 is a diagram illustrating the method for calculating the z-coordinate of the center of gravity. Specific details for implementing the invention

[0033] Preferred embodiments of the present invention will be described in detail below with reference to the attached drawings. Prior to this, terms and words used in this specification and claims should not be interpreted as being limited to their ordinary or dictionary meanings, but should be interpreted in a meaning and concept consistent with the technical spirit of the present invention, based on the principle that the inventor can appropriately define the concept of the terms to best describe his invention. Accordingly, the embodiments described in this specification and the configurations illustrated in the drawings are merely one preferred embodiment of the present invention and do not represent all aspects of the technical spirit of the present invention; therefore, it should be understood that various equivalents and modifications capable of replacing them may exist at the time of filing this application.

[0035] FIG. 1 is a diagram showing the configuration of a system (100) for implementing an optimal cargo loading method using the center of gravity measurement technique of the present invention, FIG. 2 is a diagram showing the form of a robot part as an embodiment in the system (100) for implementing an optimal cargo loading method using the center of gravity measurement technique of the present invention, and FIG. 3 is a diagram showing the form of a cargo loaded by the optimal cargo loading method using the center of gravity measurement technique of the present invention as an embodiment.

[0036] A center of gravity measuring scale (150) is equipped with a plate (156) and a plurality of load cells (151 to 154) located below the plate (156), and is used to measure the weight of a cargo (hereinafter referred to as 'load') (20, see FIG. 3) placed on the plate (156) and to measure the center of gravity. That is, the plurality of load cells (151 to 154) detect the weight applied by the load (20) placed on the plate (156) and transmit it as an electrical signal to a loading control device (110). The loading control device (110) calculates the weight of the load (20) and the location of the center of gravity from the electrical signals received from them. In addition, as described below with reference to FIG. 9, the plate (156) is provided with a function to tilt at a required angle, and at this time, from the electrical signals detected by a plurality of load cells (151 to 154), the loading control device (110) can also obtain the coordinates on the z-axis of the center of gravity of the load (20).

[0037] The load cell indicator (160) performs the role of transmitting the electrical signal detected by the load cells (151 to 154) to the load control device (110).

[0038] The robot unit (130) may be configured as a 6-axis robot equipped with a robot arm as shown in FIG. 2. This robot unit (130) first transfers the load (20) to a center of gravity measuring scale (150), and when all necessary information is transmitted as an electrical signal to the loading control device (110) by the center of gravity measuring scale (150), it performs the role of transferring the load (20) to a loading position (hereinafter referred to as the 'loading position'). At this time, the operation of the robot unit (130) is controlled by the loading control device (110), and in particular, when the load (20) is finally transferred to the loading position, the loading control device (110) controls the loading so that the center of gravity is aligned with other cargo already loaded at the loading position.

[0039] FIG. 3 shows an embodiment in which the center of gravity of each load (20) is aligned with the same position (10), thereby allowing the loaded cargo to be maintained in the most stable state without collapsing.

[0040] The load transfer unit (120) performs the role of transferring the load (20) to a loading position into an area (hereinafter referred to as the 'robot operating area') where each robot arm of the robot unit (130) can grasp and transfer the load (20) so that the robot unit (130) can transfer the load (20) to the center of gravity measuring scale (150).

[0041] The camera (140) photographs the load (20) located on the center of gravity measuring scale (150) and transmits image information including the image to the load control device (110), and the load control device (110) identifies the location of the vertices, corners, etc. of the load (20) from this and measures the size of the load (20).

[0043] Figure 4 is an overall flowchart for performing an optimal cargo loading method using the center of gravity measurement technique of the present invention.

[0044] The load transfer unit (120) transfers the load into the aforementioned robot operating area (S410). The robot unit (130) transfers the load to the center of gravity measuring scale (150) (S420).

[0045] The loading control device (110) measures the coordinates of the center of gravity of the load (20) in the center of gravity measuring scale coordinate system from the weight information of the load (20) received from the center of gravity measuring scale (150) and the tilt information at the time of measurement also received from the center of gravity measuring scale (150) (S430), which will be described in detail later with reference to FIGS. 8 and FIGS. 9.

[0046] A load located on the plate (156) of the center of gravity measuring scale (150) is photographed by a camera (S440). The load control device (110) measures the size of the load (20) by identifying the positions of vertices, corners, etc. of the load (20) from image information including a 3D image of the load (20) received from the camera (130) (S450). The process of measuring the size of the load (20) (S450) will be described in more detail later with reference to the flowchart of FIG. 5.

[0047] In addition, the loading control device (110) converts the coordinates of the center of gravity of the load (20) in the center of gravity measuring scale coordinate system, which were previously measured (S430), into the coordinates of the center of gravity of the load in the camera reference coordinate system using a coordinate transformation matrix (S460). That is,

[0049] Center of gravity coordinates 카메라 = Coordinate transformation matrix · Centroid coordinates 저울

[0051] It is calculated by, in this case, the centroid coordinates 카메라 is the center of gravity coordinate of the load in the camera reference coordinate system, and the center of gravity coordinate 저울 is the coordinate of the center of gravity of the load (20) in the center of gravity measuring scale coordinate system.

[0052] Afterwards, the loading control device (110) controls the robot unit (130) to transport the load (20) to the coordinates of the loading position, and at this time, the load is finally loaded so that the center of gravity (on the camera reference coordinate system) of the loaded cargo (20) is aligned with the vertical line (20) as in FIG. 3, thereby maintaining a stable loading state (S470).

[0054] Figure 5 is a flowchart showing in detail the process of measuring the size of the cargo (S440, Figure 4).

[0055] The loading control device (110) receives a color image in 30 frames from the camera (130) (S441), converts the received RGB image into a GRAY image, converting the image into a single color channel with pixel values ​​from 0 to 255 instead of three color channels. The image represented from 0 to 255 is binarized into black and white by setting a threshold value (S442). Afterward, deblurring is performed to apply blur to the image (S443), and the outline of the loading and center of gravity measuring scale (150) plate (156) is detected through Canny edge detection (S444), and the vertices of the loading and center of gravity measuring scale (150) plate (156) are also detected (S445). In addition, the depth of the plate (156) of the load and center of gravity measuring scale (150) is measured (S447), and finally, the size of the load is calculated (S447).

[0057] Figure 6 is a diagram showing the camera coordinate system.

[0058] 1) Camera Calibration

[0059] Camera calibration is the process of estimating and correcting the intrinsic and extrinsic parameters of a camera system. Through this process, distortion in images acquired by the camera can be corrected, and accurate spatial coordinates can be estimated. In other words, it is the process of establishing an accurate correspondence between real-world objects and camera images.

[0060] Intrinsic parameters describe the attributes of the camera itself, primarily including focal length, lens distortion, and the size and shape of the image sensor. Extrinsic parameters describe the position and orientation of the camera, primarily including its position, orientation, and rotation.

[0061] Camera images are obtained by projecting points in 3D space onto a 2D image plane. In the pinhole camera model, the following transformation relationships are modeled as follows.

[0062] - World Coordinate System: A coordinate system existing in reality, defined by specific points (X, Y, Z) and rotations.

[0063] - Pixel Coordinate System: This is the coordinate system in which the camera image appears. In this case, the pixel coordinates are represented as (x,y). It is defined as the distance between the camera lens and the image plane of the pixel coordinate system.

[0064] - Normalized coordinate system: A pixel coordinate system in which the focal length is normalized to 1 for interpretation in computer vision.

[0065] - Camera Coordinate System: A coordinate system based on the camera, where the Zc direction represents the direction of the camera lens, the Xc direction represents the downward direction of the camera, and the Yc direction represents the right direction of the camera.

[0066]

[0067] The (X, Y, Z) coordinates are the coordinates of a 3D point in the world coordinate system. Matrix A is the camera intrinsic parameter, and the focal length (f x ,f y ), pub(C x ,C y ), skew coefficient (skew_cf x It consists of a rotation matrix and a translation matrix used to transform the world coordinate system into the camera coordinate system. Together, these are called the camera matrix or projection matrix.

[0068] The relationship between the world coordinate system and the camera coordinate system is called external calibration, and the relationship between the camera lens and the image is called internal calibration. The following is a diagram explaining this content.

[0069]

[0071] 2) The Importance of Calibration

[0072] Cameras can undergo physical deformation or distortion during the manufacturing process or use, which can lead to a problem where acquired images do not accurately correspond to real-world coordinates. Therefore, camera calibration is an essential step to correct these deformations and obtain accurate images. By adjusting the camera's intrinsic and extrinsic parameters through calibration, accurate results can be obtained in image processing and computer vision algorithms. The camera calibration step is crucial for accurately measuring the size of a box and minimizing errors.

[0073] External calibration accurately estimates the camera's position and orientation to establish the transformation between the world coordinate system and the camera coordinate system. The actual length can be calculated by converting the box vertices obtained through image processing into the real world coordinate system. Therefore, proper external calibration is essential to ensure accurate length measurements when measuring the size of a box.

[0074] Internal calibration obtains accurate pixel coordinates by adjusting intrinsic camera parameters such as focal length, principal point, and asymmetry coefficient. This corrects distortions that occur during the camera manufacturing process and enables the acquisition of accurate pixel coordinates. Through the process of converting pixel coordinates to the camera coordinate system and converting points in the camera coordinate system to the world coordinate system, pixel coordinates can be converted into points in an arbitrary world reference coordinate system.

[0076] The camera coordinate system transformation is explained as follows.

[0077] 1) Transformation between image coordinate system and camera coordinate system

[0078] The image obtained through the camera is projected onto the image plane. The coordinates on the image plane are pixel coordinates, denoted as (u,v). The normalized image plane is a coordinate system in which the influence of camera intrinsic parameters is removed from the pixel coordinate system by making the focal length 1; let (x,y) be the normalized coordinates. Since the Z-axis of the origin of the normalized coordinate system lies collinear with the Z-axis of the origin of the camera coordinate system, pixel coordinates can be converted to camera coordinates by converting to normalized coordinates, and the relationship between pixel coordinates and normalized coordinates is as follows.

[0079]

[0080] The 3D camera coordinate system can be obtained by multiplying the coordinates in the normalized coordinate system by the depth. This can be expressed as follows using the equation below.

[0081]

[0082] 2) Transformation between Camera Coordinate System and World Coordinate System

[0083] The world coordinate system can be obtained by calculating the transformation matrix using external parameters (rotation and translation) and then multiplying the inverse of the transformation matrix by the camera coordinates.

[0084]

[0086] Figure 7 is a diagram showing the configuration of a center of gravity measuring scale (150).

[0087] A load cell (151, 152, 153, 154) that detects weight and converts it into an electrical signal is attached to the lower part of the plate (156). The lifting part (155) moves back and forth to raise and lower one side of the plate (156), thereby allowing the plate (156) to be inclined.

[0088] The shape of the lifting part (155) in FIG. 7 is merely one embodiment, and the lifting part (155) does not necessarily have to be configured in this shape. For example, the lifting part (155) may be configured in a shape like FIG. 9.

[0089] In this way, the lifting part (155) that gives an incline to the plate (156) can be driven using a linear motor.

[0091] Figure 8 is a diagram illustrating the method for finding the x and y coordinates of the center of gravity, and Figure 9 is a diagram illustrating the method for finding the z coordinate of the center of gravity.

[0092] Below, the center of gravity measurement performed by the loading control device (110) will be described. As described above, the loading control device (110) receives from the load cell indicator (160) the electrical signal detected and converted by the load cells (151, 152, 153, 1154) of the center of gravity measuring scale (150), and uses this to measure the center of gravity of the load (20).

[0093] Referring to FIG. 8, first, the weight of the load (20) is equal to the sum of the weights measured by four load cells as in FIG. 8.

[0094]

[0095] Next, the X and Y center of gravity of the load (20) can be determined from the force and moment relationship measured by four load cells as follows.

[0096]

[0098] Referring to FIG. 9, the Z-axis center of gravity (H) of the load (20) can be calculated as follows using the moment relationship while the measuring plate is tilted.

[0099] and, here

[0100] L and T are the width and length of the plate of the center of gravity measuring scale, respectively, and F1, F2, F3, and F4 are the forces measured by the four load cells of the center of gravity measuring scale, respectively.

[0101] ,

[0102] Here, θ is the angle from the horizontal plate to the center of gravity of the load, and is the sum of the forces measured by the load cell of the line segment that acts as a hinge on the opposite side of the lifted line segment when one side of the plate is lifted and tilted. Explanation of the symbols

[0103] 10: Center of gravity location 20: Cargo 100: Optimal Cargo Loading System Using Center of Gravity Measurement Techniques 110: Load control device 120: Load transfer unit 130: Robotics Department 140: Camera 150: Center of gravity measuring scale 151, 152, 153, 154: Load cell 155: Lifting section 156: Plate(156)(plate) 160: Load cell indicator

Claims

Claim 1 An optimal cargo loading system using a center of gravity measurement technique (hereinafter referred to as the "cargo loading system"), as a method for optimally loading cargo using a center of gravity measurement technique, comprises: (a) a step in which a robot unit of the cargo loading system transfers a cargo (hereinafter referred to as the "cargo") to a loading location (hereinafter referred to as the "loading location") to a center of gravity measurement scale of the cargo loading system; (b) a step in which a loading control device measures the center of gravity of the cargo on the coordinate system of the center of gravity measurement scale from the weight of the cargo detected by a load cell of the center of gravity measurement scale; (c) a step in which a camera of the cargo loading system photographs the cargo; (d) a step in which a loading control device of the cargo loading system measures the size of the cargo using the photographed image; (e) a step in which the center of gravity of the cargo on the coordinate system of the center of gravity measurement scale is converted to the center of gravity of the cargo on the camera reference coordinate system. and, (f) a step of transferring the load to the loading position, and if there is an existing load at the loading position, loading the load on top of the existing load, with the center of gravity aligned with that of the existing load, and in step (b), the x-coordinate of the center of gravity is, The y-coordinate of the center of gravity is, The z-coordinate of the center of gravity is, It is calculated as follows, where L and T are the width and length of the plate of the center of gravity measuring scale, respectively, and F1, F2, F3, and F4 are the forces measured by the four load cells of the center of gravity measuring scale, respectively. , and, where θ is the angle from the horizontal plate to the center of gravity of the load, and An optimal cargo loading method using a center of gravity measurement technique, which is the sum of forces measured by a load cell in a segment that acts as a hinge to the opposite side of the lifted segment when one side of the plate is lifted and tilted. Claim 2 An optimal cargo loading method using a center of gravity measurement technique according to claim 1, further comprising, prior to step (a), a step of (a0) transferring the cargo into an area (hereinafter referred to as the 'robot operating area') where each robot arm of the robot part can grasp and transfer the cargo. Claim 3 An optimal cargo loading method using a center of gravity measurement technique according to claim 1, wherein the camera is a depth camera capable of measuring the height of the load. Claim 4 An optimal cargo loading method using a center of gravity measurement technique according to claim 3, wherein step (d) comprises: (d1) a step of performing image binarization on an image of the cargo; (d2) a step of performing deblurring processing on the image; (d3) a step of detecting the outline and vertices of the cargo; (d4) a step of measuring the depth of the cargo; and (d5) a step of calculating the size of the cargo. Claim 5 delete Claim 6 An optimal cargo loading system utilizing a center of gravity measurement technique, comprising: a plate; a center of gravity measuring scale equipped with a plurality of load cells that detect the weight of a cargo placed on the plate (hereinafter referred to as "cargo") and convert it into an electrical signal; a robot unit that performs the function of transferring the cargo to the center of gravity measuring scale and transferring the cargo from the center of gravity measuring scale to a loading position (hereinafter referred to as "loading position"); and a camera that photographs the cargo. and, the loading control device includes a loading control device that measures the size of the load from an image of the load captured by the camera, measures the center of gravity of the load in the coordinate system of the center of gravity measuring scale from the weight information of the load detected by the load cell, converts the center of gravity of the load in the coordinate system of the center of gravity measuring scale into the center of gravity of the load in the camera reference coordinate system, controls the loading transfer and loading process of the robot unit, and, if an existing load exists at the loading location, controls the loading to be loaded on top of the existing load, aligning the center of gravity with that of the existing load, and when the loading control device measures the center of gravity, the x-coordinate of the center of gravity is The y-coordinate of the center of gravity is, The z-coordinate of the center of gravity is, It is calculated as follows, where L and T are the width and length of the plate of the center of gravity measuring scale, respectively, and F1, F2, F3, and F4 are the forces measured by the four load cells of the center of gravity measuring scale, respectively. , and, where θ is the angle from the horizontal plate to the center of gravity of the load, and An optimal cargo loading system using a center of gravity measurement technique, which is the sum of forces measured by a load cell in a segment that acts as a hinge to the opposite side of the lifted segment when one side of the plate is lifted and tilted. Claim 7 An optimal cargo loading system using a center of gravity measurement technique according to claim 6, wherein the robot unit is composed of a 6-axis robot equipped with a robot arm. Claim 8 An optimal cargo loading system using a center of gravity measurement technique according to claim 6, further comprising a load cell indicator that performs the role of transmitting an electrical signal detected by the load cell to the loading control device. Claim 9 An optimal cargo loading system using a center of gravity measurement technique according to claim 6, further comprising a cargo transfer unit that performs the role of transferring the cargo into an area (hereinafter referred to as the 'robot operating area') where each robot arm of the robot unit can grasp and transfer the cargo. Claim 10 An optimal cargo loading system using a center of gravity measurement technique according to claim 6, wherein the camera is a depth camera capable of measuring the height of the load. Claim 11 delete

Images