Robotic device including gripper and control method thereof

Abstract

Disclosed is a robotic device including a gripper. The gripper disclosed herein comprises: a housing; a first driving unit and a second driving unit which are arranged inside the housing; a first needle and a second needle which are configured to be driven by the first driving unit to move in a first direction and a second direction opposite to the first direction, wherein the first direction is the direction in which the first needle and the second needle are drawn out from inside the housing via an opening in the housing; and a first adjustment block and a second adjustment block which are arranged in the opening of the housing and driven by the second driving unit to move toward or away from each other. The first needle and the second needle are bent toward each other and configured to grip food by crossing each other due to being interfered with by the first adjustment block and the second adjustment block when driven by the first driving unit to move in the first direction.

Description

Robot device including a gripper and control method thereof

[0001] The present disclosure relates to a robot device comprising a gripper for grasping an item such as food, and a method for controlling the same.

[0002] With technological advancements, robotic technology is being utilized to replace human labor in various fields. In particular, robotic devices are being developed in sectors requiring delicate and precise tasks, such as factories, construction, medical sites, and aerospace. However, conventional robotic devices have had limitations in accurately grasping small items, such as food.

[0003] A gripper according to one embodiment of the present disclosure may include: a housing; a first driving unit and a second driving unit disposed inside the housing; a first needle and a second needle configured to move in a first direction, which is drawn out from inside the housing to the outside through an opening of the housing, and a second direction, which is opposite to the first direction, according to the driving of the first driving unit; and a first adjustment block and a second adjustment block disposed in the opening of the housing and moved in a direction adjacent to each other and a direction apart from each other according to the driving of the second driving unit. The first needle and the second needle may be configured to bend toward each other and, when moved in the first direction by the driving of the first driving unit, to intersect with the first adjustment block and the second adjustment block to grasp food.

[0004] A robot device according to one embodiment of the present disclosure may include: a robot arm comprising a plurality of joints; a gripper comprising a first needle and a second needle connected to the end of the robot arm and configured to bend toward each other, and a first driving motor; an image sensor configured to acquire an image of a target contained in a container; a memory in which at least one instruction is stored and information regarding a reference signal pattern corresponding to a target grasping process is stored; and at least one processor configured to execute at least one instruction individually or collectively. When the above at least one instruction is executed individually or collectively by the above at least one processor, the robot device may be controlled to identify a target to be grasped based on the image, and to grasp the identified target by controlling the first drive motor so that the first needle and the second needle move in a first direction from inside the gripper to outside the gripper, and if the change pattern of the electrical signal corresponding to the load of the first drive motor during the process of grasping the target is inconsistent with the reference signal pattern, the gripper may be controlled to move the first needle and the second needle in a second direction from outside the gripper toward inside the gripper, and then to grasp the target again by controlling the first drive motor so that the first needle and the second needle move in the first direction from inside the gripper toward outside the gripper.

[0005] A control method for a robot device including a gripper according to one embodiment of the present disclosure may include: identifying the target based on an image of the target; controlling a first needle and a second needle included in the gripper to grasp the identified target; identifying a change pattern of an electrical signal corresponding to the load of a driving motor driving the first needle and the second needle; and, if a previously stored reference signal pattern and the identified change pattern of the electrical signal are inconsistent, controlling the driving of the first needle and the second needle to grasp the target again.

[0006] The above and other aspects and features of specific embodiments of the present disclosure will become more apparent from the following description, together with the accompanying drawings.

[0007] FIG. 1 is a block diagram showing a robot device according to one embodiment of the present disclosure.

[0008] FIG. 2 is a side view showing a robot device according to one embodiment of the present disclosure.

[0009] FIG. 3 is a plan view showing a robot device according to one embodiment of the present disclosure.

[0010] FIG. 4 is a perspective view showing a gripper according to one embodiment of the present disclosure.

[0011] FIG. 5 is a bottom view showing a gripper according to one embodiment of the present disclosure.

[0012] Figure 6 is a cross-sectional view along the line A-A' shown in Figure 5.

[0013] Figure 7 is a cross-sectional view along the line B-B' shown in Figure 5.

[0014] FIG. 8 is a perspective view showing the interior of a gripper according to one embodiment of the present disclosure.

[0015] FIG. 9 is a side view showing the gripper illustrated in FIG. 8.

[0016] FIG. 10 is a flowchart schematically illustrating a control method for a robot device according to one embodiment of the present disclosure.

[0017] FIG. 11 is a flowchart illustrating a control method for a robot device according to one embodiment of the present disclosure.

[0018] FIGS. 12, FIGS. 13, and FIGS. 14 are drawings illustrating an example of controlling a gripper of a robot device according to one embodiment of the present disclosure to grasp an item from a container and drop the item into a target container.

[0019] FIG. 15 is a graph showing the change in the movement speed and current of a needle according to a control step of a robot device according to one embodiment of the present disclosure.

[0020] In relation to the description of the drawings, the same or similar reference numerals may be used for identical or similar components.

[0021] Embodiments according to the present disclosure may be subject to various modifications and may have various embodiments; specific embodiments are illustrated in the drawings and described in detail in this specification. However, this is not intended to limit the scope to specific embodiments and should be understood to include various modifications, equivalents, and / or alternatives of one or more embodiments according to the present disclosure. In relation to the description of the drawings, similar reference numerals may be used for similar components.

[0022] In describing the present disclosure, detailed descriptions of related known functions or configurations are omitted if it is determined that such descriptions would unnecessarily obscure the essence of the present disclosure. Additionally, one or more embodiments according to the present disclosure may be modified in various different forms, and the scope of the technical concept of the present disclosure is not limited to the following embodiments. Rather, these embodiments are provided to make the present disclosure more faithful and complete and to fully convey the technical concept of the present disclosure to those skilled in the art.

[0023] The terms used in this disclosure are used merely to describe specific embodiments and are not intended to limit the scope of the rights. Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0024] In the present disclosure, expressions such as “have,” “may have,” “include,” or “may include” indicate the presence of such features (e.g., numerical values, functions, actions, or components such as parts) and do not exclude the presence of additional features.

[0025] In the present disclosure, expressions such as “A or B,” “at least one of A or / and B,” or “one or more of A or / and B” may include all possible combinations of items listed together. For example, “A or B,” “at least one of A and B,” or “at least one of A or B” may refer to cases including (1) at least one A, (2) at least one B, or (3) both at least one A and at least one B.

[0026] Expressions such as "first," "second," "first," or "second" used in this disclosure may modify various components regardless of order and / or importance, and are used only to distinguish one component from another and do not limit said components.

[0027] As used in this disclosure, the expression “configured to” may be replaced, depending on the context, with, for example, “suitable for,” “having the capacity to,” “designed to,” “adapted to,” “made to,” or “capable of.” The term “configured to” may not necessarily mean only “specifically designed to” in hardware.

[0028] In the present disclosure, a 'module' or 'part' performs at least one function or operation and may be implemented in hardware or software, or a combination of hardware and software. Additionally, a plurality of 'modules' or a plurality of 'parts' may be integrated into at least one module and implemented by at least one processor, except for a 'module' or 'part' that needs to be implemented in specific hardware.

[0029] Meanwhile, various elements and areas in the drawings are depicted schematically. Accordingly, the technical concept of the present disclosure is not limited by the relative sizes or spacing depicted in the attached drawings.

[0030] Hereinafter, with reference to the attached drawings, one or more embodiments according to the present disclosure are described in detail so that those skilled in the art can easily implement them.

[0031] FIG. 1 is a block diagram showing a robot device (10) according to one embodiment of the present disclosure, FIG. 2 is a side view showing a robot device according to one embodiment of the present disclosure, and FIG. 3 is a plan view showing a robot device according to one embodiment of the present disclosure.

[0032] Referring to FIGS. 1, 2 and 3, a robot device (10) according to one embodiment may include a robot arm (20), an image sensor (30), a gripper (100), a memory (210) and a processor (230).

[0033] According to one embodiment, the robot arm (20) may be configured to be multi-axis driven to transport an item contained in a container (1) (e.g., one selected from a plurality of items (3) constituting the item) to target containers (9a, 9b) (e.g., a food tray or a lunch box for sale). For example, the item may be pieces of side dishes. For example, the multi-axis drive may include three-axis linear movement (e.g., X-axis linear movement, Y-axis linear movement, Z-axis linear movement) and three-axis rotational movement (e.g., roll, pitch, yaw).

[0034] According to one embodiment, the robot arm (20) may include a base (21), a plurality of links, and a plurality of joints. The plurality of links may include a first link (23a), a second link (23b), a third link (23c), and a fourth link (23d). The plurality of joints may include a first joint (25a) connecting the base (21) and the first link (23a), a second joint (25b) connecting the first link (23a) and the second link (23b), a third joint (25c) connecting the second link (23b) and the third link (23c), and a fourth joint (25d) connecting the third link (23c) and the fourth link (23d).

[0035] According to one embodiment, the first joint (25a) is connected to the rotation axis of the base (21) (e.g., an axis parallel to the z-axis in FIG. 2) and can rotate clockwise or counterclockwise around the rotation axis of the base (21). Motors capable of forward and reverse rotation (e.g., stepper motors) may be disposed inside the base (21), the first joint (25a), the second joint (25b), the third joint (25c), the fourth joint (25d), and the fourth link (23d), respectively. The robot arm (20) illustrated in FIG. 2 and FIG. 3 is described as having four links and four joints, but is not limited thereto. The robot arm (20) may include a number of links and joints sufficient to enable the operation of moving items (3) contained in container (1) to target containers (9a, 9b). For example, the robot arm (20) may include at least three links and at least three joints for connecting the base and the three links.

[0036] According to one embodiment, the gripper (100) may be connected to a pivot member (27) disposed at the free end of the fourth link (23d). The pivot member (27) may include a stepper motor to rotate the gripper (100) forward and backward around the center axis of the fourth link (23d) along the longitudinal direction of the fourth link (23d) (e.g., the direction parallel to the z-axis in FIG. 2).

[0037] According to one embodiment, an image sensor (30) may be disposed on the fourth link (23d). The image sensor (30) may be controlled by a processor (230) to obtain image information by photographing a plurality of items (3) constituting an item contained in the container (1). For example, the image information may include the position coordinates, size, shape, etc. of each of the plurality of items (3).

[0038] According to one embodiment, the image sensor (30) may include a vision camera, an RGB camera (color camera), a depth camera, a stereo camera, a LiDAR (light detection and ranging), an infrared camera, and / or a ToF camera (time of flight). For example, the image sensor (30) may include a vision camera for acquiring 2D images and a depth camera or LiDAR for acquiring accurate height information when a plurality of items (3) are overlapping on the bottom of a container (1).

[0039] According to one embodiment, the gripper (100) may be controlled by a processor (230) to grasp an item (3) contained in a container (1), move to a designated target container (9a or 9b) by a robot arm (20), and then drop the item (3) at a designated location within the designated target container (9a or 9b). For example, the container (1) may be placed on a workbench (5). The target containers (9a, 9b) may be placed on a conveyor device (7) positioned on one side of the workbench (5). The conveyor device (7) may be controlled by a processor (230) to move or stop the target containers (9a, 9b).

[0040] According to one embodiment, the memory (210) is configured to contain various programs, instructions, and data required for the operation of the robot device (10). At least one instruction may be stored in the memory (210). Although the memory (210) is depicted as being separate from the processor (230) in FIG. 1, it is not necessarily limited thereto, and the memory (210) may be implemented as an internal memory such as ROM (e.g., EEPROM (electrically erasable programmable read-only memory)) or RAM included in the processor (230).

[0041] According to one embodiment, the memory (210) may be implemented in the form of a memory embedded in the robot device (10) or in the form of a memory that can be attached to and detached from the robot device (10) depending on the purpose of data storage. For example, the memory (210) may be implemented in various forms such as volatile memory, SRAM (static RAM), or SDRAM (synchronous dynamic RAM), etc., non-volatile memory (e.g., OTPROM (one time programmable ROM), PROM (programmable ROM), EPROM (erasable and programmable ROM), EEPROM (electrically erasable and programmable ROM), mask ROM, flash ROM, flash memory, hard drive, or solid state drive (SSD), CF (compact flash), SD (secure digital), MicroSD (micro secure digital), Mini-SD (mini secure digital), xD (extreme digital), MMC (multi-media card), etc.

[0042] In the present disclosure, the term memory (210) may be used to include a storage unit, ROM within a processor (230), RAM, or a memory card (e.g., micro SD card, memory stick) mounted on a robot device. Although the memory (210) is depicted as one in FIG. 1, the memory (210) may be implemented in various numbers.

[0043] According to one embodiment, the memory (210) is configured to store at least one instruction, an operating system (O / S), a program, and data, etc., regarding the robot device (10). The memory (210) is accessed by a processor (230). In the memory (210), reading, writing, modifying, deleting, updating, etc. of data by the processor (230) may be performed.

[0044] For example, the memory (210) may store various information such as information about the image sensor (30), image information obtained by the image sensor (30), characteristic information of the item, information about the first drive motor (121) and the second drive motor (141), information about the gap between the first needle (131, see FIG. 4) and the second needle (132, see FIG. 4), and programs and commands for controlling the operation of the robot device (10) and other devices.

[0045] According to one embodiment, the memory (210) can store a plurality of previously trained artificial intelligence models. For example, the artificial intelligence models may be implemented as a Convolutional Neural Network (CNN), Long Short-Term Memory (LSTM), Deep Neural Network (DNN), Recurrent Neural Network (RNN), Restricted Boltzmann Machine (RBM), Deep Belief Network (DBN), Bidirectional Recurrent Deep Neural Network (BRDNN), etc., but are not limited to such examples. These artificial intelligence models are computing systems implemented based on the neural networks of human or animal brains, and may be referred to as learning models, machine learning models, neural network models, deep learning models, etc.

[0046] According to one embodiment, an artificial intelligence model trained to select a gripping depth corresponding to the characteristic information of the item (e.g., stiffness, density, texture, etc. of the material constituting the item) may be stored in the memory (210). For example, a reference signal pattern corresponding to the load applied to the first drive motor (121) during the process of gripping the item (3) based on the characteristic information of the item may be stored in the memory (210). The form of gripping the item (3) may be such that the first needle (131, see FIG. 4) and the second needle (132, see FIG. 4) included in the gripper (100) are inserted from the surface of the item (3) into the interior of the item (3). The load applied to the first drive motor (121) may occur in less than about 1 second or in about 1 to 2 seconds while the first needle (131) and the second needle (132) are inserted into the interior of the item (3). The current value when a load is applied to the first drive motor (121) may be greater than the average current value while the first needle (131) and the second needle (132) are moving toward the item (3). A reference signal pattern stored in memory (210) may correspond to the load (e.g., current value) applied to the first drive motor (121) when grasping the item (3).

[0047] According to one embodiment, the processor (230) controls the overall operation of the robot device (10). For example, the processor (230) is connected to the configuration of an electronic device including a memory (210) and can control the overall operation of the robot device (10) by executing at least one instruction stored in the memory (210) as described above. In particular, the processor (230) may be implemented as a single processor as well as as a plurality of processors.

[0048] According to one embodiment, the processor (230) may be implemented as one or more IC (integrated circuit (or circuitry)) chips and may perform various data processing operations. The processor (230) may include at least one electrical circuit and may process instructions (or programs, data, etc.) stored in memory individually or collectively in a distributed manner.

[0049] According to one embodiment, the processor (230) may include a processor assembly comprising one or more processing circuits. The processor (230) may include any processing circuit that is operative to control the performance and operations of one or more components of the robot device (10) (e.g., memory and / or drive devices (motors, sensors)). For example, the processor (230) (e.g., AP) may be implemented as a system on chip (SoC) (e.g., a single chip or a chipset). For example, the processor (230) may be implemented as multiple cores (or at least one core circuit), multiple chips, or multiple chipsets.

[0050] For example, the processor (230) may include one or more processing circuits. The processor (230) may include one or more processing circuits configured to perform various functions of the present disclosure individually and / or collectively. As an example without limitation, at least a portion of the processor (230) may be included in a first chip of the robot device (10), and at least another portion of the processor (230) may be included in a second chip of a robot device different from the first chip of the robot device (10).

[0051] For example, the processor (230) may include a central processing unit (CPU), a graphics processing unit (GPU), a neural processing unit (NPU), an image signal processor (ISP), a display controller, a memory controller, a storage controller, a communication processor (CP), and / or a sensor interface. These components of the processor (230) are merely exemplary. The processor (230) may include additional components other than those described above. Additionally, some components of the processor (230) may be omitted. Furthermore, some components of the processor (230) may be included as separate components of the robot device (10) outside of the processor (230). For example, some components of the processor (230) (e.g., a memory controller) may be included within other components (e.g., at least a portion of memory, an interface (e.g., available for connection to at least one component of the robot device (10)), a display).

[0052] According to one embodiment, the processor (230) can cause other components of the robot device (10) to perform various operations by executing instructions stored in memory (210). The processor (230) processes setting values, function commands, etc. according to a control program or control data stored in memory (210), and can output control signals related to functions that the robot device (10) can perform or communication signals for communicating with an external robot device.

[0053] According to one embodiment, the processor (230) can control the driving of the robot arm (20) to set the position of the gripper (100) based on image information acquired by at least one image sensor (30). For example, the image information may be image information including the position coordinates, size, shape, etc. of each of the plurality of items (3) contained in the container (1).

[0054] According to one embodiment, the processor (230) can control the gripper (100) to grasp one item among a plurality of items (3) contained in a container (1), control the robot arm (20) to transfer the item grasped by the gripper (100) onto a target container (9a or 9b), and control the gripper (100) to drop the item (3) onto the target container (9a or 9b).

[0055] According to one embodiment, the processor (230) can identify a pattern of change in an electrical signal corresponding to the load of the first drive motor (121) driving the gripper (100) during the process of gripping an item (3) with the gripper (100). If the reference signal pattern stored in the memory (210) and the identified pattern of change in the electrical signal are inconsistent, the processor (230) can control the first drive motor (121) to grip the item (3) again through the gripper (100).

[0056] Hereinafter, the configuration of a gripper (100) included in a robot device (10) according to one embodiment will be described in detail with reference to the drawings. The gripper (100) can be controlled by a processor (230) to grasp and drop an item (3).

[0057] FIG. 4 is a perspective view showing a gripper according to one embodiment of the present disclosure, FIG. 5 is a bottom view showing a gripper according to one embodiment of the present disclosure, FIG. 6 and FIG. 7 are cross-sectional views along line A-A' and line B-B' respectively shown in FIG. 5, FIG. 8 is a perspective view showing the interior of a gripper according to one embodiment of the present disclosure, and FIG. 9 is a side view showing the gripper illustrated in FIG. 8.

[0058] Referring to FIGS. 4 to 7, a gripper (100) according to one embodiment may include a housing (110), a first driving unit (120), a first needle (131), a second needle (132), a second driving unit (140), a first adjustment block (161), and a second adjustment block (162).

[0059] According to one embodiment, the housing (110) may be provided with a receiving space (112) in which a first driving unit (120) is disposed. An opening (115) may be provided at the bottom of the housing (110). A second driving unit (140) may be disposed in the opening (115) of the housing (110). A coupling groove (111) in which a first driving motor (121) is coupled may be provided at the top of the housing (110).

[0060] According to one embodiment, the first drive unit (120) can move the first needle (131) and the second needle (132) in a first direction (e.g., a direction from the upper side to the lower side of the housing (110) along the z-axis of FIG. 6) and a second direction opposite to the first direction. The first drive unit (120) may include a first drive motor (121) capable of forward and reverse rotation, a screw shaft (123) connected to the first drive motor (121) to rotate forward and reverse according to the drive of the first drive motor (121), and a movable nut (125) coupled to the screw shaft (123). A plurality of balls may be arranged between the screw shaft (123) and the movable nut (125). For example, a plurality of balls may be arranged along the circumferential direction of the screw shaft. Thus, the screw shaft (123) and the movable nut (125) may form a ball screw structure.

[0061] According to one embodiment, the movable nut (125) may include a fastening hole (125a) that is screw-coupled to the screw shaft (123). The movable nut (125) may have a first contact surface (125b) provided on one side and a second contact surface (125c) provided on the opposite side of the first contact surface (125b). The first contact surface (125b) and the second contact surface (125c) may be formed as flat surfaces and may be arranged parallel to each other. The first contact surface (125b) and the second contact surface (125c) may each be slidably in contact with a first guide wall (113b) and a second guide wall (113c) forming a receiving space (112) of the housing (110).

[0062] For example, the movable nut (125) can be moved in a first direction along the screw shaft (123) when the screw shaft (123) rotates in a forward direction by driving the first drive motor (121). Conversely, the movable nut (125) can be moved in a second direction along the screw shaft (123) when the screw shaft (123) rotates in a reverse direction by driving the first drive motor (121). When the movable nut (125) is moved in the first and second directions, the first and second contact surfaces (125b, 125c) interfere with the first and second guide walls (113b, 113c) of the housing (110), so the movable nut (125) can be moved linearly along the screw shaft (123) without rotating.

[0063] According to one embodiment, the upper end of each of the first needle (131) and the second needle (132) may be connected to the lower end of the movable nut (125). The first needle (131) and the second needle (132) may move in and out of the housing (110) through the opening (115) of the housing (110) as they move together with the movable nut (125) in a first direction or a second direction according to the driving of the first driving motor (121). For example, the first needle (131) and the second needle (132) can be moved to the outside of the housing (110) by passing through the opening (115) of the housing (110) by the operation of the first driving unit (120) while placed in the receiving space (112) of the housing (110), and conversely, can be moved to the receiving space (112) of the housing (110) by passing through the opening (115) of the housing (110) while placed outside the housing (110).

[0064] According to one embodiment, the first needle (131) and the second needle (132) may be arranged in a direction facing each other. For example, as shown in FIG. 5, a virtual first straight line (131a) passing through the center of the first needle (131) may be parallel to a virtual second straight line (132a) passing through the center of the second needle (132). In this case, the virtual first straight line (131a) of the first needle (131) may have an offset distance (L) with respect to the virtual second straight line (132a) of the second needle (132). For example, the offset distance (L) may be such that the first needle (131) and the second needle (132) can intersect without touching each other when bent in a direction facing each other. Accordingly, the first needle (131) and the second needle (132) can intersect without interfering with each other when gripping the item (3) (see FIG. 12). For example, the way the first needle (131) and the second needle (132) grip the item (3) may be such that the tip of the first needle (131) and the tip of the second needle (132) are inserted into the item (3) to a depth where the first needle (131) and the second needle (132) intersect on both sides of the item (3).

[0065] According to one embodiment, the first needle (131) may have a curved shape that extends from the top to the bottom toward the second needle (132). The second needle (132) may have a curved shape that extends from the top to the bottom toward the first needle (131). The curvature of the first needle (131) and the curvature of the second needle (132) may be substantially the same. The length of the first needle (131) and the length of the second needle (132) may be substantially the same.

[0066] According to one embodiment, the first needle (131) and the second needle (132) may comprise an elastic material. For example, the first needle (131) may have an elastic force applied toward the first adjustment block (161). The second needle (132) may have an elastic force applied toward the second adjustment block (162). Accordingly, the first needle (131) and the second needle (132) may elastically contact the first adjustment block (161) and the second adjustment block (162), respectively.

[0067] Referring to FIGS. 8 and 9, a second driving unit (140) according to one embodiment can adjust the distance between the first needle (131) and the second needle (132). For example, the second driving unit (140) can move the first adjustment block (161) and the second adjustment block (162) in a direction adjacent to each other along the x-axis of FIG. 9. Conversely, the second driving unit (140) can move the first adjustment block (161) and the second adjustment block (162) in a direction away from each other along the x-axis of FIG. 9.

[0068] According to one embodiment, the second drive unit (140) may include a second drive motor (141) capable of forward and reverse rotation, a drive gear (143) connected to the second drive motor (141) to rotate forward and reverse according to the driving of the second drive motor (141), a driven gear (144) connected to the drive gear (143), and a rotation shaft (145) having one end connected to the driven gear (144).

[0069] According to one embodiment, the rotation axis (145) of the second drive unit (140) may be positioned approximately perpendicular to the screw axis (123) of the first drive unit (120). The rotation axis (145) may pass through a first shaft coupling part (163) provided on the upper part of the first adjustment block (161) and a second shaft coupling part (165) provided on the upper part of the second adjustment block (162). In this case, the rotation axis (145) may include a first screw part (145a) adjacent to the driven gear (144) and a second screw part (145b) located further from the driven gear (144) than the first screw part (145a).

[0070] For example, the first screw portion (145a) can be screw-coupled to the first shaft coupling portion (163) of the first adjustment block (161). The second screw portion (145b) can be screw-coupled to the second shaft coupling portion (165) of the second adjustment block (162). For example, the spiral direction of the first screw portion (145a) and the spiral direction of the second screw portion (145b) can be formed in opposite directions. For example, if the first screw portion (145a) is formed in a left screw direction, the second screw portion (145b) can be formed in a right screw direction. Accordingly, when the rotation axis (145) rotates in the forward direction, the first adjustment block (161) and the second adjustment block (162) can be moved in adjacent directions. Conversely, if the rotation axis (145) rotates in the reverse direction, the first adjustment block (161) and the second adjustment block (162) can be moved away from each other.

[0071] According to one embodiment, the first adjustment block (161) and the second adjustment block (162) may be placed in the opening (115) of the housing (110) as shown in FIG. 6. The first adjustment block (161) may include a first rail (161b) and a second rail (161c) that are respectively slidably inserted into a first guide groove (117) and a second guide groove (118) formed along the y-axis of FIG. 7 at the bottom of the housing (110). The second adjustment block (162) may have a structure similar to that of the first adjustment block (161). Accordingly, the first adjustment block (161) and the second adjustment block (162) may be moved in adjacent directions or away from each other while slidably coupled to the bottom of the housing (110) by power provided by the second driving unit (140).

[0072] According to one embodiment, a first adjustment block (161) may have a first receiving groove (161a) along the z-axis direction of FIG. 8 on a side facing the second adjustment block (162). A first needle (131) may be guided in the first receiving groove (161a) and moved along a first direction or a second direction. A second adjustment block (162) may have a second receiving groove (162a) along the z-axis direction of FIG. 8 on a side facing the first adjustment block (161). A second needle (132) may be guided in the second receiving groove (162a) and moved along a first direction or a second direction. Accordingly, when the first needle (131) and the second needle (132) grip the item (3), the tip of the first needle (131) and the second needle (132) can minimize or improve bending in an unwanted direction due to the repulsive force acting on the tip of the first needle (131) and the second needle (132) in the opposite direction of the thrusting when the tip of the first needle (131) and the second needle (132) thrusts the item (3).

[0073] According to one embodiment, for example, the center of the first receiving groove (161a) of the first adjustment block (161) may be located on a virtual first straight line (131a), and the center of the second receiving groove (162a) may be located on a virtual second straight line (132a). Accordingly, the center of the first receiving groove (161a) and the center of the second receiving groove (162a) may be separated from each other by an offset distance (L).

[0074] According to one embodiment, the first adjustment block (161) and the second adjustment block (162) can be moved in directions adjacent to each other or away from each other by power provided by the second driving unit (140) to adjust the gap between the first needle (131) and the second needle (132). In this case, the first needle (131) can be maintained in a state of elastic contact with the inner surface of the first receiving groove (161a) while being received in the first receiving groove (161a) of the first adjustment block (161). The second needle (132) can also be maintained in a state of elastic contact with the inner surface of the second receiving groove (162a) while being received in the second receiving groove (162a) of the second adjustment block (162).

[0075] According to one embodiment, the first needle (131) and the second needle (132) may be bent to intersect with the first adjustment block (161) and the second adjustment block (162) when moving in a first direction with a set gap according to the driving of the first adjustment block (161) and the second adjustment block (162). The item (3) can be stably gripped by the first needle (131) and the second needle (132) that intersect each other (see FIG. 13). In this way, the first needle (131) and the second needle (132) of the gripper (100) according to one embodiment grip the item (3) by piercing it, thereby minimizing the area gripping the item (3) so that the item (3) can be gripped with almost no damage.

[0076] According to one embodiment, the first adjustment block (161) may be connected to the first corrugated panel (171). One end of the first corrugated panel (171) may be connected to the bottom of the housing (110) and the other end may be connected to the first adjustment block (161). The first corrugated panel (171) may be unfolded or folded as the first adjustment block (161) moves along the bottom of the housing (110). The first corrugated panel (171) may partially cover the opening (115) of the housing (110) while allowing the first adjustment block (161) to move, thereby blocking foreign matter from entering the receiving space (112) of the housing (110). The second adjustment block (162) may be connected to the second corrugated panel (172). One end of the second corrugated panel (172) may be connected to the bottom of the housing (110) and the other end may be connected to the second adjustment block (162). The second corrugated panel (172) may be positioned approximately symmetrically with respect to the first corrugated panel (171).

[0077] Hereinafter, a method of controlling a robot device (10) according to one embodiment to grasp an item (3) from a container (1), transfer it to a target container (9a), and then drop it into the target container (9a) will be described.

[0078] FIG. 10 is a flowchart schematically illustrating a control method for a robot device according to one embodiment of the present disclosure.

[0079] According to one embodiment, an image sensor (30, see FIG. 1) can capture an image of an item (3, see FIG. 2) (hereinafter referred to as ‘target (3)’) contained in a container (1, see FIG. 2). The captured image can be stored in a memory (210, see FIG. 1). A processor (230, see FIG. 1) can identify the target based on the acquired image (see 1001 in FIG. 10).

[0080] According to one embodiment, the processor (230) can control the driving of the first needle (131, see FIG. 4) and the second needle (132, see FIG. 4) included in the gripper (100, see FIG. 4) by controlling the first driving motor (121) to grasp the identified target (3) (see 1002 of FIG. 10).

[0081] According to one embodiment, the processor (230) can identify a pattern of change in an electrical signal (e.g., current value) corresponding to the load of the first drive motor (121) driving the first needle (131) and the second needle (132) during the process of gripping the target (3) with the first needle (131) and the second needle (132) (see 1003 in FIG. 10).

[0082] According to one embodiment, if the change pattern of the identified electrical signal is inconsistent with the reference signal pattern stored in the memory (210), the processor (230) can control the first drive motor to move the first needle (131) and the second needle (132) to an initial position to re-grasp the target (3) (see 1004 in FIG. 10).

[0083] Hereinafter, a control method for a robot device according to one embodiment of the present disclosure will be described in detail with reference to the drawings.

[0084] FIG. 11 is a flowchart showing a control method of a robot device according to one embodiment of the present disclosure, FIG. 12, FIG. 13 and FIG. 14 are drawings showing an example of controlling a gripper of a robot device according to one embodiment of the present disclosure to grasp an item from a container and drop the item into a target container, and FIG. 15 is a graph showing the change in the movement speed of a needle and the current according to a control step of a robot device according to one embodiment of the present disclosure.

[0085] According to one embodiment, the processor (230) may control an image sensor (30, see FIG. 1) to acquire image information of a plurality of items contained in a container (1, see FIG. 2). For example, the image information may be image information including the position coordinates, size, shape, etc. of each of the plurality of items. Here, the position coordinates may be three-dimensional coordinates corresponding to the center of each item (3). The processor (230) may control the image sensor (30) to store the acquired image information in a memory (210). The processor (230) may acquire the position of the target (3) based on the image information (see 1101 in FIG. 11).

[0086] According to one embodiment, the processor (230) can control the first drive motor (121) so that the first needle (131) and the second needle (132) move to an initial position (see FIG. 12). The processor (230) can obtain the distance from the tips of the first needle (131) and the second needle (132) placed at the initial position to the surface of the target (3) based on image information. The processor (230) can obtain the depth to which the first needle (131) and the second needle (132) are inserted into the target (3) based on image information and characteristic information of the item stored in memory (210) (e.g., stiffness, density, texture, etc. of the material constituting the item).

[0087] According to one embodiment, the processor (230) can control the second drive motor (141) to set the gap between the first needle (131) and the second needle (132) corresponding to the size of the target (3) based on image information.

[0088] According to one embodiment, the processor (230) can control the first drive motor (121) to lower the first needle (131) and the second needle (132) by the sum of the distance from the tips of the first needle (131) and the second needle (132) to the surface of the target (3) and the depth of insertion into the target (3) (see 1102 in FIG. 11).

[0089] According to one embodiment, the processor (230) can control the first drive motor (121) to move the first needle (131) and the second needle (132) at a first speed until they reach the surface of the target (3) during the descent, and at a second speed slower than the first speed while they are inserted from the surface of the target (3) into the interior of the target (3). Referring to FIG. 15, the first needle (131) and the second needle (132) can be moved at a fast speed (first speed) until they grasp the target (3) during the needle descent section (S1), and the first needle (131) and the second needle (132) can be moved at a slow speed (second speed) during the grasping section (S2) while the first needle (131) and the second needle (132) are inserted into the target (3) so as to minimize shaking of the target (3). Accordingly, the control method of the robot device (10) according to one embodiment of the present disclosure can shorten the gripping time of the target (3) and can stably grip the target (3). Referring to FIG. 13, the first needle (131) and the second needle (132) can be inserted into the inside of the target (3) and arranged to intersect each other. Accordingly, the target (3) can be stably gripped by the first needle (131) and the second needle (132).

[0090] According to one embodiment, during the time when the first needle (131) and the second needle (132) are inserted into the target (3) (e.g., less than about 1 second or about 1 to 2 seconds), a load may be applied to the first drive motor (121) according to characteristic information of the target (3) (e.g., stiffness, density of the material constituting the item). In this way, the current value in the gripping section (S2) may appear to be greater than the average current value in the needle lowering section (S1). The processor (230) can determine whether gripping has occurred by comparing the change pattern of the electrical signal (e.g., current value) corresponding to the load of the first drive motor (121) during the process in which the first needle (131) and the second needle (132) grip the target (3) with the reference signal pattern stored in the memory (210) (see 1103 in FIG. 11).

[0091] According to one embodiment, the processor (230) can control the robot arm (20) to transfer the target (3) together with the gripper (100) to a preset position (see 1104 in FIG. 11), for example, a predetermined position on the target container (9a, see FIG. 3), if the reference signal pattern stored in the memory (210) matches the pattern of change of the identified electrical signal. Conversely, if the reference signal pattern stored in the memory (210) does not match the pattern of change of the identified electrical signal, the processor (230) can control the first drive motor (121) to move the first needle (131) and the second needle (132) to an initial position to re-grasp the target (3) (see 1106 in FIG. 11).

[0092] According to one embodiment, the processor (230) can control the first drive motor (121) to raise the first needle (131) and the second needle (132) to drop the target (3) into the target container (9a) while the gripper (100) is transferred to a predetermined position on the target container (9a) (see 1107 in FIG. 11). For example, the first needle (131) and the second needle (132) can be raised together with the target (3) as in FIG. 14. The target (3) cannot be raised as it is interfered with on the lower surface of the first adjustment block (161) and the second adjustment block (162). The first needle (131) and the second needle (132) continue to rise and gradually come out of the target (3). The target (3) can be dropped into the target container (9a) by its own weight as the gripping state by the first needle (131) and the second needle (132) is almost released.

[0093] A robot device (10) according to one embodiment can repeatedly perform the above process to transfer another target (3) inside the container (1) to the target container (9b, see FIG. 3).

[0094] A robot device (10) according to one embodiment can control the first needle (131) and the second needle (132) in an optimal state to grasp an item corresponding to the type of item. Accordingly, the gripper (100) can accurately grasp the target (3) inside the container (1) through the first needle (131) and the second needle (132) and stably drop it into the target container (9b).

[0095] A method according to one or more embodiments may be implemented in the form of program instructions that can be executed through various computer devices and recorded on a computer-readable medium. A computer-readable medium may include program instructions, data files, and data structures, either alone or in combination. Program instructions recorded on the medium may be those specifically designed and configured for the present disclosure, or may be those known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical media such as CD-ROMs and DVDs; magneto-optical media such as floptical disks; or hardware devices such as ROMs, RAMs, and flash memory, which are specifically configured to store and execute program instructions. Examples of program instructions include machine code generated by a compiler and high-level language code executable by a computer using an interpreter, etc.

[0096] One or more embodiments may be implemented in the form of a recording medium containing computer-executable instructions, such as program modules executed by a computer. A computer-readable medium may be any available medium accessible by a computer and includes both volatile and non-volatile media, and both removable and non-removable media. A computer-readable medium may include both computer storage media and communication media. A computer storage medium includes both volatile and non-volatile, removable and non-removable media implemented by any method or technique for storing information, such as computer-readable instructions, data structures, program modules, or other data. A communication medium generally includes computer-readable instructions, data structures, program modules, or other data of a modulated data signal, such as a carrier wave, or other transmission mechanism, and includes any information transmission medium. One or more embodiments may be implemented as a computer program or computer program product containing computer-executable instructions, such as a computer program executed by a computer.

[0097] A device-readable storage medium may be provided in the form of a non-transient storage medium. Here, the term "non-transient storage medium" simply refers to a type of device that does not contain signals (e.g., electromagnetic waves), and the term does not distinguish between cases where data is stored semi-permanently and cases where it is stored temporarily. For example, a "non-transient storage medium" may include a buffer in which data is stored temporarily.

[0098] According to one or more embodiments, the method according to one or more embodiments disclosed herein may be provided as included in a computer program product. The computer program product may be traded as a product between a seller and a buyer. The computer program product may be distributed in the form of a device-readable storage medium (e.g., CD-ROM), distributed online (e.g., download or upload) through an application store, or distributed directly between two user devices (e.g., smartphone). When distributed online, part or all of the computer program product (e.g., downloadable app) may be temporarily stored or temporarily created on a device-readable storage medium, such as a manufacturer's server memory, an application store's server, or an intermediary server.

[0099] Although the embodiments have been described above with reference to limited embodiments and drawings, those skilled in the art can make various modifications and variations from the description above. For example, appropriate results may be achieved even if the described techniques are performed in a different order than described, and / or if the components of the described system, structure, device, circuit, etc. are combined or assembled in a form different from described, or replaced or substituted by other components or equivalents. Therefore, other implementations, other embodiments, and equivalents to the claims below also fall within the scope of the claims.

Claims

1. Regarding the gripper, Housing; A first driving unit and a second driving unit disposed inside the above housing; A first needle and a second needle configured to be moved in a first direction, which is drawn out from inside to outside the housing through the opening of the housing, and a second direction, which is the opposite direction of the first direction, according to the driving of the first driving unit; and It includes a first adjustment block and a second adjustment block disposed in the opening of the housing and moving in directions adjacent to each other and directions moving away from each other according to the driving of the second driving unit; The above-mentioned first needle and the above-mentioned second needle are, A gripper configured to intersect and grasp food by bending toward each other and moving in the first direction by driving the first driving unit, such that the first needle and the second needle interfere with the first adjustment block and the second adjustment block.

2. In Paragraph 1, The above first driving unit is, First drive motor; A screw shaft connected to the first drive motor and rotating in a first direction or a second direction by the operation of the first drive motor; and A movable nut that is screw-coupled to the screw shaft and configured to move in the first direction when the screw shaft rotates in the first direction and to move in the second direction when the screw shaft rotates in the second direction; The above movable nut is, A gripper configured to be guided in a guide hole inside the housing and to move in the first direction or the second direction in a non-rotating state.

3. In Paragraph 2, Each of the above first needle and the above second needle is, A gripper configured such that the first stage is fixed to the movable nut and moves together with the movable nut in the first direction or the second direction.

4. In Paragraph 3, The imaginary first straight line passing through the center of the first needle is, A gripper configured to be parallel to a virtual second straight line passing through the center of the second needle and to have an offset distance with respect to the virtual second straight line.

5. In Paragraph 1, The above-mentioned first adjustment block is, A first receiving groove is included on the side facing the second adjustment block, wherein a portion of the first needle moving in the first direction or the second direction is guided. The above second adjustment block is, A gripper comprising a second receiving groove on the side facing the first adjustment block, wherein a portion of the second needle moving in the first direction or the second direction is guided.

6. In Paragraph 5, The first receiving groove and the second receiving groove are, Grippers in misaligned positions.

7. In Paragraph 1, A first corrugated panel connected to the first adjustment block and the bottom of the housing so that the first adjustment block can move; and A gripper further comprising: a second corrugated panel connected to the second adjustment block and the bottom of the housing so that the second adjustment block is movable.

8. In Paragraph 1, A gripper configured such that the length of the first needle and the length of the second needle are identical.

9. In Paragraph 8, The first needle is bent toward the second needle with a first curvature, and The above second needle is a gripper bent at a second curvature toward the above first needle.

10. In Paragraph 1, The above first needle and the above second needle are, A gripper comprising an elastic material.

11. In a robot device, A robot arm including multiple joints; A gripper comprising a first needle and a second needle connected to the end of the robot arm and configured to bend toward each other, and a first drive motor; An image sensor configured to acquire an image of a target contained in a container; A memory in which at least one instruction is stored and information regarding a reference signal pattern corresponding to a target grasping process is stored; and at least one processor configured to execute at least one instruction individually or collectively; comprising, When the above at least one instruction is executed individually or collectively by the above at least one processor, the robot device, Identify the target to be grasped based on the above image, and A robot device that controls the first drive motor to move the first needle and the second needle in a first direction from inside the gripper to outside the gripper to grasp the identified target, and if the change pattern of the electrical signal corresponding to the load of the first drive motor during the process of grasping the target is inconsistent with the reference signal pattern, controls the first drive motor to move the first needle and the second needle in a second direction from outside the gripper to inside the gripper, and then controls the first drive motor to move the first needle and the second needle in the first direction from inside the gripper to outside the gripper to grasp the target again.

12. In Paragraph 11, The above gripper is, Housing; A first drive unit including the first drive motor located inside the housing; A second drive unit including a second drive motor located inside the housing; and It further includes a first adjustment block and a second adjustment block positioned in the opening of the housing and facing each other, and The above first needle and the above second needle are, It is configured to move in the first direction or the second direction through the opening of the housing according to the operation of the first drive motor, and The above-mentioned first needle and the above-mentioned second needle are, A robot device configured to grasp an identified target by intersecting with the first adjustment block and the second adjustment block as the first driving unit moves the first needle and the second needle in the first direction.

13. A method for controlling a robot device including a gripper, A step of identifying the target based on an image of the target; A step of controlling the first needle and the second needle included in the gripper to grasp the identified target; A step of identifying a change pattern of an electrical signal corresponding to the load of a driving motor driving the first needle and the second needle; and A control method comprising the step of controlling the driving of the first needle and the second needle to re-grasp the target when the previously stored reference signal pattern and the change pattern of the identified electrical signal are inconsistent.

14. In Paragraph 13, A step of controlling the gripper to move the identified target to a predetermined drop position; and A control method further comprising the step of controlling the first needle and the second needle to separate the target from the first needle and the second needle.

15. In Paragraph 13, Before grasping the identified target above, A step of identifying the size of the target identified based on the above image; and A control method further comprising the step of adjusting the spacing between the first needle and the second needle based on the size of the target.

Images