Unloading apparatus, unloading method, and program
View Patent ↗An unloading apparatus comprises a sensor interface, a gripping unit interface and a processor. A sensor interface acquires a photographed image from a sensor that photographs an image of a cargo group. A processor transmits, in a case of successfully recognizing each piece of cargo of a same-type cargo group, a first control signal to the gripping unit to perform unloading according to a first gripping method corresponding to the same-type cargo group, and transmits, in a case of failing to recognize each piece of cargo of the same-type cargo group, a second control signal to the gripping unit to perform unloading according to a second gripping method corresponding to a mixed-type cargo group including different types of cargo.
1. An unloading apparatus comprising:
a sensor interface that acquires a photographed image from a sensor that photographs an image of a cargo group;
a gripping unit interface that communicates with a gripping unit configured to grip a piece of cargo of the cargo group; and
a processor that:
recognizes, from the photographed image, each piece of cargo of a same-type cargo group including a same type of cargo,
transmits, in a case of successfully recognizing each piece of cargo of the same-type cargo group, a first control signal to the gripping unit through the gripping unit interface to perform unloading according to a first gripping method corresponding to the same-type cargo group, and
transmits, in a case of failing to recognize each piece of cargo of the same-type cargo group, a second control signal to the gripping unit through the gripping unit interface to perform unloading according to a second gripping method corresponding to a mixed-type cargo group including different types of cargo;
wherein, in a case of failing to recognize each piece of cargo of the same-type cargo group, the processor extracts from the photographed image a cargo group region in which a piece of cargo of an upper tier is captured, determines a gripping position based on the cargo group region, and transmits the second control signal to the gripping unit based on the gripping position;
wherein, in a case of successfully recognizing each piece of cargo of the same-type cargo group, as the first gripping method, the processor extracts a cargo region of each piece of cargo from the photographed image, formulates a gripping plan based on the cargo region, and transmits the first control signal to the gripping unit based on the gripping plan;
wherein, as the second gripping method, the processor extracts a candidate edge facing the gripping unit in a direction from the gripping unit to the cargo from an outer frame of the cargo group region, and determines the gripping position on the candidate edge;
wherein the first gripping method is a method of gripping a plurality of pieces of cargo; and
wherein the second gripping method is a method of gripping one piece of cargo.
2. The unloading apparatus according to claim 1 , wherein the processor extracts from the photographed image a cargo group region in which a piece of cargo of an upper tier is captured, extracts a reference region corresponding to a predetermined reference image in the cargo group region, and extracts a cargo region of each piece of cargo of the same-type cargo group based on the reference region.
3. The unloading apparatus according to claim 1 , wherein, when the number of pieces of cargo of the same-type cargo group is smaller than a predetermined threshold value, the processor transmits the second control signal to the gripping unit according to a second gripping method corresponding to a mixed-type cargo group.
4. The unloading apparatus according to claim 1 , comprising:
the gripping unit;
an arm unit configured to move the gripping unit; and
the sensor.
5. The unloading apparatus according to claim 1 , wherein the gripping unit includes a suction pad.