ROBOT SYSTEM WITH MOVEMENT SEQUENCES AND OPERATING PROCEDURES ADAPTED TO PRODUCT TYPES

Description

[0001] The invention relates to a method for controlling a robot in a storage and order picking system, which has a gripping unit movable relative to a robot base, in which the goods are picked up by the gripping unit from or to a first goods carrier and placed or dropped into or onto a second goods carrier. The goods are differentiated with respect to at least one of the following physical parameters: dimensional stability, compressive strength, flexural stiffness, tensile strength, absolute weight, or specific weight, into goods of a first type and goods of a second type, wherein the type of goods is determined before they are picked up.Furthermore, the goods in question are picked up from or taken out of the first goods carrier by the gripping unit and placed or dropped into or onto the second goods carrier, wherein the robot and / or the gripping unit (in particular a movement of the robot and / or the gripping unit) is controlled depending on the type determined for the goods in question. The invention further relates to a robot system with a robot having a gripping unit movable relative to a robot base for picking up goods, wherein the robot is configured to pick up goods with the gripping unit from or taken out of a first goods carrier and placed or dropped into or onto a second goods carrier, and a robot controller which is configured to instruct the robot to pick up the goods in question from or taken out of the first goods carrier and placed or dropped into or onto the second goods carrier.The goods are differentiated according to one of the physical parameters: dimensional stability, compressive strength, flexural stiffness, tensile strength, absolute weight, or specific weight, at least into goods of a first type and goods of a second type. Finally, the invention relates to a storage and order picking system for picking goods, comprising a storage area for storing goods and a workstation for picking / repacking goods with a robot system of the type described above.

[0002] A method, a robot system, and a storage and order picking system of the aforementioned type are generally known. For example, US Patent 9,868,207 B2 discloses a robot for gripping goods in a storage system. Information on gripping the aforementioned goods can be determined and used in conjunction with a database to define a gripping strategy.

[0003] US patent 2017 / 088360 A1 further discloses robotic arms or manipulators used for throwing goods within an inventory system. Throwing strategies for the robotic arms can include information on how a grasped item should be moved and released by a robotic arm to achieve a trajectory for moving the item to a collection point.

[0004] Finally, US patent 2015 / 057793 A1 discloses a system and a method for automatically picking up goods in a material handling device. In one embodiment, the system comprises a conveyor belt and a robotic hand with multiple fingers, to which one or more suction cups are attached. A picking plan can be generated that controls the robotic hand to pick up the goods while selectively activating one or more suction cups.

[0005] A disadvantage of the known methods is their relative inflexibility and poor suitability for handling a wide variety of goods. Often, specialized systems are used that can only handle a few different types of goods that are only slightly distinguishable from one another. Many handling operations in a warehouse and order picking system are therefore carried out by warehouse workers or order pickers, which is particularly detrimental to their health when dealing with heavy goods.

[0006] One object of the invention is therefore to provide an improved method for controlling a robot in a storage and order picking system, an improved robot system, and an improved storage and order picking system for picking goods. In particular, the disadvantages mentioned above are to be overcome and the activities performed by a robot system are to be expanded.

[0007] This problem is solved by a method for controlling a robot and a robot system according to claims 1 and 15.

[0008] It is planned that (by the robot control) that at least one suction gripper is activated when picking up a product of the first type before the contact of the at least one suction gripper with said product, and is activated when picking up a product of the second type after the contact of the at least one suction gripper with said product, wherein, if the physical parameter is dimensional stability, products of the first type have a modulus of elasticity of less than 1.0 GPa and products of the second type have a modulus of elasticity of more than or equal to 1.0 GPa, or wherein, if the physical parameter is compressive stability, products of the first type have a compressive modulus of elasticity of less than 1.0 GPa or, under central loading, a compression spring constant of less than 0.5 N / cm, and products of the second type have a compressive modulus of elasticity of more than or equal to 1.0 GPa or, under central loading, a compression spring constant of more than or equal to 0.5 N / cm, or wherein, if the physical parameter is flexural stiffness, goods of the first type have a modulus of elasticity of less than 1.0 GPa or a flexural spring constant of less than 0.01 Nm / ° and goods of the second type have a modulus of elasticity of more than or equal to 1.0 GPa or a flexural spring constant of more than or equal to 0.01 Nm / °, or wherein, if the physical parameter is tensile strength, goods of the first type have a tensile strength of less than 100 N / mm² and goods of the second type have a tensile strength of more than or equal to 100 N / mm², or wherein, if the physical parameter is absolute weight, goods of the first type have a weight of less than 1 kg and goods of the second type have a weight of more than or equal to 1 kg, or wherein, if the physical parameter is specific gravity,Goods of the first type have a specific gravity of less than 1 g / cm³ and goods of the second type have a specific gravity of more than or equal to 1 g / cm³. Finally, the object of the invention is also achieved by a (largely automated) storage and order picking system according to claim 17.

[0009] The storage and order picking system includes a (fully automated) robot system of the type mentioned above, which is particularly connected to the storage area via conveyor technology.

[0010] As proposed, at least one suction gripper is activated before contact with a product exhibiting one of the following properties: easily deformable, soft / pliable, flexible, unbreakable, light, or specifically light. Conversely, when picking up a product exhibiting one of the following properties: difficult to deform, hard / rigid, rigid, fragile, heavy, or specifically heavy, the suction gripper is activated after contact with the product. This approach utilizes the fact that products of the first type, due to their properties, can be drawn into the suction gripper, meaning they can move towards it when a vacuum is applied.Accordingly, when picking up goods of the first type, the suction gripper does not need to be positioned as precisely or move as far towards the goods. Such behavior is not to be expected with goods of the second type, which is why at least one suction gripper is only activated upon contact with the goods in question and remains there for a predetermined period of time (e.g., approximately 0.2 seconds) to ensure reliable suction.

[0011] Generally, the gripping unit includes at least one suction gripper. Suction grippers are suitable for quickly picking up goods of varying properties, for example, for manipulating both more or less rigid objects (such as boxes, cartons, and plastic containers) and for manipulating flexible and especially pliable objects (such as sacks or bags filled with objects).

[0012] It should be noted that the presented method and robot are suitable for picking up both cuboid and irregularly shaped goods, such as sacks or bags. Both cuboid and irregularly shaped goods can consist of a single, handleable object or a single, handleable group of objects. Specifically, a product can, for example, be a cardboard box or plastic box filled with several objects. Similarly, a product can also be a sack or bag filled with several objects.

[0013] The inventive method and robot system are particularly well suited for goods in the form of film bags, especially so-called "polybags" made of polyethylene or polypropanol. Such film bags are primarily used in the textile industry, for example, for packaging T-shirts, shirts, and the like. They are also frequently used in the shoe and food industries.

[0014] Due to the proposed measures, the presented method, robot system, and storage and order picking system are highly flexible and suitable for handling a wide variety of goods. This allows for the handling of diverse and even significantly different types of goods, thereby expanding the range of tasks performed by a robot system compared to the current state of the art. Furthermore, warehouse workers can be relieved of the burden of performing repetitive handling tasks less frequently.

[0015] In the context of the invention, "goods" is understood to mean in particular a single, individually handleable object or a single, individually handleable group of objects.

[0016] The "type" of a product indicates its characteristics or nature. A physical parameter is used to determine the type of a product.

[0017] For example, goods can be distinguished according to their dimensional stability. "Dimensional stability" is a measure of a product's deformability, i.e., its resistance to deformation. Goods with low dimensional stability are therefore "easily deformable," while goods with high dimensional stability are "difficult to deform." It is conceivable, therefore, that goods of the first type are easily deformable and goods of the second type are difficult to deform. Goods of the first type have a modulus of elasticity of < 1.0 GPa, and goods of the second type have a modulus of elasticity of ≥ 1.0 GPa.

[0018] The goods can also be distinguished from one another with regard to their compressive strength. Compressive strength is a special form of dimensional stability and a measure of a product's deformability under compressive stress. Goods with low compressive strength are "soft / flexible," while goods with high compressive strength are "hard / rigid." It is therefore conceivable that goods of the first type are soft / flexible and goods of the second type are hard / rigid. Goods of the first type have a modulus of elasticity of < 1.0 GPa and / or exhibit a compressive spring constant of < 0.5 N / cm under central loading. Goods of the second type have a compressive modulus of elasticity of ≥ 1.0 GPa and / or exhibit a compressive spring constant of ≥ 0.5 N / cm under central loading.

[0019] Furthermore, goods can be distinguished from one another with regard to their bending stiffness. "Bending stiffness" is also a special form of dimensional stability and a measure of a product's deformability under bending stress. Goods with low bending stiffness are "flexible," while goods with high bending stiffness are "rigid." It is therefore conceivable that goods of the first type are flexible and goods of the second type are rigid. Goods of the first type have a modulus of elasticity of < 1.0 GPa and / or a flexural spring constant of < 0.01 Nm / °. Goods of the second type have a modulus of elasticity ≥ 1.0 GPa and / or a flexural spring constant of ≥ 0.01 Nm / °.

[0020] Another physical parameter used to differentiate goods is their strength. "Strength" is a measure of a product's resistance to damage. Accordingly, goods with low strength are "fragile," and goods with high strength are "unbreakable." It is therefore conceivable that goods of the first type are unbreakable and goods of the second type are fragile.

[0021] Goods of the first type have a tensile strength of < 100 N / mm², and goods of the second type have a tensile strength of ≥ 100 N / mm². High-strength goods are also more load-bearing than low-strength goods and can be stacked higher.

[0022] The goods can also be distinguished by their weight. It is therefore conceivable that goods of the first type are light and goods of the second type are heavy. Goods of the first type weigh less than 1 kg and goods of the second type weigh 1 kg or more.

[0023] Another physical parameter used to distinguish between goods is their specific gravity. Specific gravity is the ratio of a body's weight to its volume. It is therefore conceivable that goods of the first type are specifically light and goods of the second type are specifically heavy. Goods of the first type have a specific gravity of < 1 g / cm³ and goods of the second type a specific gravity of ≥ 1 g / cm³.

[0024] The "size" of a product can refer to its dimensions, i.e., its length, width and / or height, and / or its surface area and / or its volume.

[0025] It is also conceivable that goods can be of any shape or have flat surfaces, and in particular be cuboid or essentially cuboid. It should be noted that goods that are difficult to deform, hard / rigid, and / or rigid generally do not significantly change their geometric shape. Goods that are easily deformable, soft / flexible, and / or flexible, on the other hand, can significantly change their geometric shape and, depending on the circumstances, belong to either the first or second type. These goods can therefore change their classification over time. An example of such goods are garments packaged in tightly fitting plastic bags. These plastic bags give the otherwise rather flexible garments a certain degree of dimensional stability, making such a garment essentially cuboid and therefore easily stackable when placed on a (flat) surface.If, on the other hand, it hangs over the side wall of a loading aid, then the garment wrapped in foil can take on a completely different shape, which deviates significantly from the cuboid shape.

[0026] A "carrier" can be, for example, a loading aid (such as a box, tray, container, or pallet) or a conveyor (such as a belt conveyor, roller conveyor, or chain conveyor). A "carrier" can also be a transport platform (such as on a storage and retrieval machine or an autonomous transport vehicle). The first carrier acts as the "source," and the second as the "destination." The second carrier could, for example, be a pivoting flap. In this case, the robot picks up a product from the source and places it on the flap. The product can then be dispensed into another container, for example, by actuating, i.e., pivoting, the flap.

[0027] As mentioned above, a "loading aid" can be a container, such as a crate, box, or carton. Generally, a container comprises a base, side walls extending from it, and a loading opening defined by the side walls. It should be noted that a shelf typically also has side walls and can therefore also be considered a flat container.

[0028] In general, the first and / or second goods carrier can be designed as a loading aid or conveying device.

[0029] In a "warehouse and order picking system," goods can be delivered and received at a receiving area, repacked if necessary, and stored in a warehouse. The goods can also be picked according to an order, meaning they are retrieved from the warehouse, assembled for that order, and made ready for shipment at the shipping area. The goods are not substantially altered between receiving and shipping, unlike in a manufacturing process. However, slight changes in shape are possible, especially with non-rigid items such as bags or sacks, or with other flexible packaging made of cardboard or plastic.

[0030] A robot's "motion parameter" can be, for example, the speed and / or acceleration at which the gripper unit moves, particularly its minimum and / or maximum values. A motion parameter can also influence a trajectory. For instance, it can define the minimum and / or maximum radii used in a trajectory. Other examples of motion parameters include the force with which a gripper unit grasps a product, the vacuum generated by the suction grippers, and so on.

[0031] To differentiate between goods of at least the first and second types, a threshold value is used, which is assigned to a physical parameter, for example, the weight of the goods. In this case, the threshold value is set at 1 kg.

[0032] In one variant of the proposed method, a program for controlling the robot and / or the gripper unit (in particular for moving the robot and / or the gripper unit) contains at least two program branches, whereby a program branch specific to the type of goods to be picked up is executed based on that type. In this case, the robot controller stores a program for controlling the robot and / or the gripper unit (in particular for moving the robot and / or the gripper unit) that contains at least two program branches, whereby a program branch specific to the type of goods to be picked up is executed based on that type. This means that the type of goods directly influences the execution of the program. These measures allow the movement sequences intended for different types of goods to differ from one another in a very complex way.

[0033] Alternatively or additionally, it is also conceivable that Movement parameters for the robot are stored in a database, which are assigned to the physical parameters and / or the types of goods; a movement parameter for the robot is read from the database based on the type of goods to be picked up; and the movement of the robot is controlled based on the read movement parameter.

[0034] In this variant, the type of goods therefore influences the movement parameter intended for controlling the robot. For example, a speed and / or an acceleration of the gripping unit can be specified as a movement parameter.

[0035] It is conceivable that the proposed measures could be applied alone or in combination. Accordingly, the type of product can influence the program sequence and / or the movement parameters of the robot system.

[0036] A physical property or parameter of a product can be advantageously determined using a sensor system. For example, the sensor system can include a sensor that directly measures the relevant physical property. A scale can thus be used to determine the weight of a product. However, the property of a product can also be determined indirectly via the sensor system. In this case, the product is identified using the sensor system, and subsequently, a data record relating to the identified product is read from a database, containing the desired property or physical parameter. For example, the pressure resistance of a product is assigned to its article number in the relevant data record, and so on.To identify the goods (i.e., to determine, for example, the item number of the goods), the sensor system can include, for example, a camera, a barcode reader and / or an RFID reader.

[0037] It is also conceivable that goods can be identified without the aid of a sensor system within the robot system. For example, a central computer of the warehouse and order picking system can know the location of a specific item within the system. This allows the central computer to also know which item(s) are within the robot's operating range. For instance, signals from the drives of the goods carriers can be evaluated to determine the location of goods within the warehouse and order picking system, such as signals from rotary encoders in a conveyor roller.

[0038] The data record in which a physical property or parameter is assigned to a product can be contained in a robot database of the robot system and / or in a central database that is part of or connected to a central computer. Accordingly, in the latter case, the robot system has an interface to a central computer of a warehouse and order picking system, which provides the aforementioned data record (the physical property / parameter) or from which the data record (the physical property / parameter) is obtained. For example, a data record for the weight of a product could look like the following: Identification number Product weight 15689090 1 kg

[0039] Consequently, the identified goods can be assigned to a first or second type using the determined characteristic / parameter. The goods can be explicitly assigned to a specific type, for example, the group of light goods or heavy goods. An example program flow for assigning goods to a specific type based on their weight might look like the following: IF goods > 1 kg THEN goods type = heavy END

[0040] If only two types of goods are provided, then the assignment of a good to a specific type based on the weight of the goods can look like this, for example: IF goods > 1 kg THEN goods type = heavy ELSE goods type = light END

[0041] If there are more than two types of goods, multiple IF-THEN assignments can be made accordingly.

[0042] However, the robot can also be controlled based on an implicit assignment of the goods to a specific type, for example by comparing the determined physical property / parameter (i.e., the determined weight) with a threshold value for this property / parameter.

[0043] In the first case, the question is whether the goods are light or heavy, whereas in the second case, the determined weight is used to answer this question. The following illustrates this with two simple conditions that might be included in a program sequence for controlling the robot: IF goods = heavy THEN program sequence motion control for heavy goods END IF goods weight > 1 kg THEN Program sequence: Motion control for goods weighing > 1 kg END

[0044] The above program flow can also include jumps to subroutines. An IF-THEN statement can, of course, also be used to determine a robot's movement parameter, as illustrated below using the example of the gripper unit's speed setting: IF goods = heavy THEN speed = 1 m / s END IF goods weight > 1 kg THEN speed = 1 m / s END

[0045] The examples shown are pseudocode segments. In reality, corresponding code segments may of course be written in a different language and / or have a different structure.

[0046] If the goods are explicitly distinguished based on their type into at least goods of a first type and goods of a second type, then the determination of a physical property of a good is not absolutely necessary, but the type of a good can also be determined without explicitly determining the relevant physical property.

[0047] In this process, a product is identified using the robot system's sensor system, or the product is identified using the central computer, as explained in the example above. Subsequently, a data record relating to the identified product is read from a database, containing the desired product type. For example, the product's article number in the relevant data record is assigned the product's pressure resistance rating, such as "fragile" or "non-fragile," and so on. To identify the product (i.e., to determine, for example, its article number), the sensor system can also include a camera, a barcode reader, and / or an RFID reader.

[0048] The data record can be contained in a robot database of the robot system and / or in a central database that is part of or connected to a central computer. Accordingly, in this case, the robot system also has an interface to a central computer of a warehouse and order picking system, which provides the data record (the type of goods) or from which the data record (the type of goods) is obtained. For example, a data record for the type of goods could look like the following: Identification number Product type 15689090 difficult

[0049] In this case, the aforementioned exemplary pseudocode segments relating to the type of goods are relevant. As already mentioned, determining the physical property used to define the type of goods or their group classification is not strictly necessary, as is evident from the code segments above.

[0050] In the preceding examples, the value of a motion parameter was defined in a program section or code segment of the robot control program. However, it is also conceivable that the motion parameter in question is stored in a data record containing the motion parameter. an identification of a good, or a property / parameter of a good, or a type of good is assigned.

[0051] For example, data sets for the speed of the gripper head could therefore look like the following: Identification number speed 15689090 1 m / s Product weight speed 1 kg 1 m / s Product type speed difficult 1 m / s

[0052] The relevant data records can be contained in a robot database of the robot system and / or in a central database that is part of or connected to a central computer. Accordingly, in this case, the robot system also has an interface to a central computer of a warehouse and order picking system, which provides the aforementioned data record (the movement parameter) or from which the aforementioned data record (the movement parameter) is obtained.

[0053] The identification of a product, the determination of a product's characteristics, and the determination of a product's type can be carried out in the manner already described above. In particular, as already mentioned, a sensor system of the robot system and / or a central computer or a central database of the warehouse and order picking system can be used for this purpose.

[0054] The examples above assume that a physical property / parameter of a product and / or its type is obtained from a central control system or database, which then influences the robot's movement sequence. However, it is also conceivable that program sections in the form of code segments are obtained directly from the central control system or database and subsequently loaded into the robot's control system. These program sections or code segments can differ for various product properties or types and can also be referred to as "applets" (short for "application snippet").It would also be conceivable that pointers to program sections or code segments, which differ from each other for different product properties or product types, are obtained from the central control system or the central database.

[0055] Loading program sections or code segments (applets) from a central controller or database into the robot controller of the robot system is particularly advantageous when a large number of robots with the same or similar tasks and / or of the same or similar type are used in a warehouse and order picking system. This simplifies robot maintenance and adaptation to different tasks, as these program sections or code segments can be managed and modified centrally.

[0056] Alternatively, it would also be conceivable that the aforementioned program sections are stored in a robot database and are loaded into the robot control system, for example, depending on a product property or product type.

[0057] Further advantageous embodiments and developments of the invention will now become apparent from the dependent claims as well as from the description in conjunction with the figures.

[0058] It is further advantageous if the gripping unit includes at least one suction gripper and if, when picking up a product of the first type, a contact plane of the suction gripper is inclined by up to 70° relative to a gripping surface of the product, whereas when picking up a product of the second type, said contact plane is inclined by a maximum of 20° relative to a gripping surface of the product. Accordingly, the suction gripper is inclined by up to 70° relative to a gripping surface of the product, particularly when picking up a product that has one of the following properties: easily deformable, soft / flexible, flexible, unbreakable, light, or specifically light. Thus, the suction gripper is inclined by a maximum of 20° relative to a gripping surface of the product, particularly when picking up a product that has one of the following properties: difficult to deform, hard / rigid, rigid, fragile, heavy, or specifically heavy.This method takes advantage of the fact that the goods of the first type are flexible and that a gripping surface of the goods, which is not substantially parallel to the contact plane of the suction gripper, can be "pressed into position" when the gripping unit is lowered onto the goods in question. This eliminates the need to adjust the contact plane to a (randomly) predetermined orientation of a gripping surface of the goods being picked up each time a product is handled, thus enabling the transfer or order picking process to be faster than is possible with prior art. In contrast, a gripping surface of a product of the second type cannot usually be pressed into position due to its specific physical properties. Therefore, when picking up a product of the second type, the contact plane of at least one suction gripper is aligned parallel or substantially parallel to a gripping surface of the product.

[0059] Furthermore, it is advantageous if a collision of the gripping unit with goods other than those being picked up is avoided if the other goods are of the second type, and permitted if the other goods are of the first type. Accordingly, a collision is avoided, in particular, with goods exhibiting one of the following characteristics: difficult to deform, hard / rigid, rigid, fragile, heavy, or specifically heavy, whereas a collision is permitted, in particular, with goods exhibiting one of the following characteristics: easily deformable, soft / flexible, flexible, unbreakable, light, or specifically light. This takes advantage of the fact that goods of the first type are generally less susceptible to collisions with the gripping unit due to their properties.The effort required to position the gripping unit can therefore be reduced, resulting in shorter cycle times. With the second type of goods, however, particular care is taken to avoid damaging them. The proposed measures thus achieve a good compromise regarding the effort required to position the gripping unit.

[0060] It is also advantageous if the maximum speed of the gripping unit is higher for goods of the first type than for goods of the second type, and / or if the maximum acceleration of the gripping unit is higher for goods of the first type than for goods of the second type. Accordingly, goods that exhibit, in particular, one of the following properties: easily deformable, soft / flexible, flexible, unbreakable, light, specifically light, are moved faster and / or accelerated more strongly than goods that exhibit, in particular, one of the following properties: difficult to deform, hard / rigid, rigid, fragile, heavy, specifically heavy. This takes advantage of the fact that, due to their properties, goods of the first type are generally less sensitive and easier for the gripping unit to hold than goods of the second type.This achieves a good compromise between fast processing of the transshipment process and the errors that occur (for example, goods falling from the gripping unit or goods being damaged).

[0061] It is also advantageous if a specific target position in or on the second carrier is calculated for goods of the second type, whereas for goods of the first type, a target area with several possible target positions in or on the second carrier is calculated. Accordingly, a specific target position is calculated for goods that exhibit, in particular, one of the following properties: difficult to deform, hard / rigid, rigid, fragile, heavy, or specifically heavy, whereas for goods that exhibit, in particular, one of the following properties: easily deformable, soft / flexible, flexible, unbreakable, light, or specifically light, a target area with several possible target positions is permitted. This approach takes advantage of the fact that the probability of goods of the first type deforming considerably when placed or discarded is relatively high.Excessive effort for positioning goods of the first type therefore appears unnecessary and is kept to a minimum according to the proposed measures. Goods of the second type, on the other hand, deform less and can therefore be stacked effectively, making precise positioning advisable. The proposed measures minimize the computational effort required to determine a target position without compromising the ability to stack goods of the second type.

[0062] It is particularly advantageous if goods of the first type located adjacent to a side wall of the loading aid are pressed against said side wall during picking, whereas goods of the second type located adjacent to a side wall of the loading aid are removed from the loading aid without pressure being applied to said side wall. Accordingly, goods exhibiting one of the following properties, in particular: easily deformable, soft / pliable, flexible, unbreakable, light, or specifically light, are pressed against the side wall of the loading aid during picking. Thus, goods exhibiting one of the following properties, in particular: difficult to deform, hard / rigid, rigid, fragile, heavy, or specifically heavy, are removed from the loading aid without pressure being applied to the side wall.The proposed measures allow a gripping surface for goods of the first type to be "pressed into position" for the gripping unit and aligned so that it can be easily grasped. This may be faster than precisely aligning the gripping unit with an existing gripping surface. For goods of the second type, however, there is generally no way to "press into position" a gripping surface or to arbitrarily deform an existing one. The proposed measures therefore achieve a good compromise with regard to the time required to pick up a product.

[0063] Furthermore, it is particularly advantageous if goods of the first type are dropped into or onto the second carrier, whereas goods of the second type are placed into or onto the second carrier. Accordingly, goods exhibiting one of the following properties—easily deformable, soft / flexible, flexible, unbreakable, light, or specifically light—are dropped into or onto the second carrier. Conversely, goods exhibiting one of the following properties—difficult to deform, hard / rigid, rigid, fragile, heavy, or specifically heavy—are placed into or onto the second carrier. This approach takes advantage of the fact that goods of the first type are relatively robust, and maintaining a precise target position is difficult anyway and therefore less critical for optimizing packing density in the second carrier.In contrast, goods of the second type are comparatively sensitive to damage, and maintaining an exact target position is relatively easy and also practical due to the stacking possibility.

[0064] In the context described above, a product of the first type can be moved vertically by the robot over a target position or area calculated for the product and then released. By dropping the product into or onto the second carrier, the loading process can be carried out particularly quickly because lowering the gripper unit into or onto the second carrier, as is necessary when placing products, is eliminated. Furthermore, the effort required to calculate the position of the gripper unit at which the product is released can be kept very low with this design variant.

[0065] It is also conceivable that a product of the first type is moved by the robot to a release position and released there. This release position is located vertically above and laterally adjacent to a target position calculated for the product, or vertically above and laterally adjacent to a target area calculated for the product, and at the starting point of a trajectory leading to said target position / area. The calculation of this trajectory takes into account at least the speed and direction of movement of the gripping unit at the release position. The proposed measures can further reduce the distance the gripping unit has to travel to release a product. In particular, the direction of movement of the gripping unit at the release position is horizontal or diagonally upwards, allowing the product to be thrown a relatively long distance.The proposed measures can therefore significantly accelerate the transshipment or order picking process compared to the current state of the art.

[0066] It is particularly advantageous if an unintentional drop of the picked-up item from the gripping unit, as well as the unintentional placement / discarding of an item outside a tolerance range around the calculated target position for said item, is considered an error. The speed and / or acceleration of the gripping unit is then reduced if the number of errors per unit of time exceeds a first predefined threshold, and / or increased if the number of errors per unit of time falls below a second predefined threshold. In this way, the process for transferring / picking goods can be adaptively adjusted to changing conditions. This eliminates the need for the cumbersome determination of goods' properties and their suitability for picking by the gripping unit; instead, it leverages the fact that this suitability can be deduced from the rate at which errors occur.This ensures that an optimum is always achieved for the transfer speed or picking speed at a given error rate.

[0067] It is also advantageous if goods of the first type and goods of the second type are picked up and placed / discarded using the same gripping unit. This saves time when changing gripping units and allows for faster reloading / order picking.

[0068] It is still advantageous if the goods are delivered according to an order. are transported to the robot using the first carrier, transferred from or out of the first carrier to or onto the second carrier using the robot, and transported away from the robot using the second carrier.

[0069] In this variant, the goods are transported to the robot, for example, directly on a belt conveyor, roller conveyor, or chain conveyor, or with a loading aid on a belt conveyor, roller conveyor, or chain conveyor. The robot can therefore remain stationary in one location. However, it would also be conceivable for the robot to be designed as a mobile robot, particularly as a mobile articulated-arm robot or a mobile gantry robot. For example, the robot could be mounted on an autonomous guided vehicle (AGV).

[0070] As mentioned above, a sensor system can include a camera, a barcode reader, an RFID reader, and / or a scale. It is also advantageous if the sensor system includes a depth sensor, a laser scanner, and / or an ultrasonic sensor. These sensors allow the location and position of an item within or on a storage carrier to be determined and used for gripping by the gripping unit. A camera (stereo camera), a depth sensor, a laser scanner, or an ultrasonic sensor can capture a three-dimensional image of the items lying within or on the storage carrier. However, a three-dimensional image can also be generated from several two-dimensional images taken from different angles. These two-dimensional images can, for example, originate from stereometrically arranged cameras or be captured during relative movement between the item and the camera.The (single) camera can move relative to the stationary goods, or vice versa. The three-dimensional scanning of the goods lying in or on the carrier also allows for the determination of the goods' surface structure and the assessment of their suitability for gripping by the gripping unit.

[0071] For example, highly convex surfaces are less suitable for gripping by a suction gripper, whereas flat surfaces are particularly well suited for gripping by a suction gripper. A camera is also particularly suitable for capturing the surface texture of the goods to be picked up, such as a print on packaging.

[0072] It is also advantageous if the robot is designed as an articulated arm robot or gantry robot. These designs represent proven and tested methods for manipulating goods and are available in a wide variety of forms on the market.

[0073] Finally, it is advantageous if the workstation of the storage and order picking system is designed for fully automated order picking, and if a first conveyor system is arranged for transporting goods in or on first load carriers (storage load carriers, in particular containers) between the storage area and the robot at the workstation, and / or a second conveyor system is provided for transporting goods in or on second load carriers (order load carriers, in particular cartons) between the storage area and the robot at the workstation, wherein the robot is designed to pick up at least one item from or out of the first load carrier (storage load carrier, in particular containers) for an order and to place or drop the at least one item into or onto the second load carrier (order load carrier, in particular cartons) for this order. In this way, an order picking process can be carried out particularly efficiently and quickly.

[0074] It should be noted here that the embodiment variants disclosed for the method and the resulting advantages relate equally to the disclosed device and vice versa.

[0075] To better understand the invention, it is explained in more detail with reference to the following figures.

[0076] They each show, in a highly simplified, schematic representation: Fig. 1 shows a first example of a robot system with a robot and a fixed camera system in oblique view; Fig. 2 is similar to Figure 1, however, with a movable camera system with a camera attached to a robot arm segment of the robot; Fig. 3 an example of a storage and picking system in top view; Fig. 4 an example in which the gripping unit is tilted sharply relative to a gripping surface of the goods; Fig. 5 an example in which a goods are pressed against the side wall of a loading aid when picked up; Fig. 6 an example of throwing a goods into a second goods carrier along a trajectory.

[0077] It should be noted at the outset that in the differently described embodiments, identical parts are provided with the same reference numerals or component designations, and the disclosures contained in the entire description can be applied analogously to identical parts with the same reference numerals or component designations. Furthermore, the positional designations chosen in the description, such as top, bottom, side, etc., refer to the figure directly described and illustrated and must be applied analogously to the new position if the position changes.

[0078] The Figure 1Figure 1a shows a robot 1a in a robot system 2a. The robot 1a has a gripping unit 4 that is movable relative to a robot base 3 and which, in this example, has three suction grippers 5 spaced apart from each other. The gripping unit 4 is articulated to the robot base 3 via a robot arm, which has two arm segments 6 and 7. Figure 2a further shows... Figure 1 A sensor system 8a, 8b, which serves to detect the goods carriers 9a and 9b and the goods stored therein, and in this example comprises two cameras 8a, 8b. The goods are in the Figure 1 However, they are not visible because they are stored in the goods carriers 9a and 9b, which in this example are designed as containers. Container 9a is a source container from which goods are picked up / removed by the gripping unit 4, and container 9b is a destination container into which goods are placed / discarded by the gripping unit 4.

[0079] In this example, cameras 8a and 8b are arranged above containers 9a and 9b and are each designed as stereo cameras. Accordingly, cameras 8a and 8b capture a three-dimensional image of the interior of at least containers 9a and 9b and the goods stored therein. Alternatively, only camera 8a (stereo camera) could be positioned above container 9a, or only camera 8b (stereo camera) could be positioned above container 9b. It is also conceivable that a single camera 8a (stereo camera) could be used for both containers 9a and 9b. Even though stereo cameras are used in a preferred embodiment, cameras 8a and 8b could also be designed as cameras for capturing a two-dimensional image of the interior of at least containers 9a and 9b and the goods stored therein.

[0080] The one in Figure 1The arrangement shown further comprises a conveyor system for transporting the containers 9a, 9b to the robot system 2a and for transporting the containers 9a, 9b from the robot system 2a. In particular, the conveyor system comprises a first conveyor section 10a for transporting the containers 9a, 9b to the robot system 2a and a second conveyor section 10b for transporting the containers 9a, 9b from the robot system 2a.

[0081] Finally, the one in the Figure 1 The depicted arrangement includes a robot controller 11a, which is connected to the cameras 8a, 8b and the robot 1a and serves to control the movement of the gripper unit 4 according to a predefined transfer or picking process. In this example, the robot controller 11a also has an optional robot database 12.

[0082] The Figure 2 shows a robot system 2b, which is the one in the Figure 1The robot system 2a shown is very similar. However, unlike the robot system 2a, there are no cameras 8a, 8b positioned above containers 9a and 9b. Instead, a single camera 8c is positioned directly on the second arm segment 7 of robot 1b. This camera 8c is connected to a robot controller 11b (connection not shown). Furthermore, camera 8c can be configured as a stereo camera to capture a three-dimensional image of containers 9a and 9b and the goods stored within them. This can be achieved, for example, by moving camera 8c over container 9a or container 9b using robot 1a and capturing an image.It is also conceivable that the camera 8c is only designed to capture a two-dimensional image, and that a three-dimensional image of the containers 9a and 9b and the goods stored therein is generated by capturing several two-dimensional images during a movement of the camera 8c and subsequently calculating the three-dimensional image.

[0083] Another difference between robot system 2b and robot system 2a from the Figure 1 consists in the fact that the robot controller 11b is connected to a central computer 13 which has an optional central database 14.

[0084] It should be noted here that the in the Figure 2 The connection shown to the central computer 13 or to the central database 14 is also present in the robot system 2a. Figure 1can be used. In particular, both the robot database 12 and the central database 14 can be provided. It is also conceivable, of course, that (only) the robot database 12 is used in the robot system 2b of the Figure 2 is used. It should also be noted here that camera 8c can also be used with cameras 8a to 8d from robot system 1a. Fig. 1 can be combined.

[0085] The Figure 3Figure 15 shows a storage and order picking system, which includes a building 16, a receiving gate 17, and an shipping gate 18. In the receiving area 17, there is a first conveyor 19 and two secondary conveyors 20a and 20b. The first conveyor 19 connects the receiving area 17 to a robot system 2c. The two secondary conveyors 20a and 20b connect the robot system 2c to a storage area 21, which comprises several storage racks 22 and stacker cranes 23a and 23b that move in aisles between the storage racks 22. At the end of the aisles opposite the secondary conveyors 20a and 20b, a third conveyor 24 is arranged, which in this example is ring-shaped and leads to another robot system 2d.Within the operating area of ​​the robot system 2d, a fourth conveyor line 25 is also arranged, which connects the robot system 2d to the goods output 18 in terms of conveyor technology.

[0086] The in the Figures 1 to 3 The loading aids 9a..9e shown are designed as containers, specifically, for example, as cardboard boxes, cartons, or crates. The container 9a..9e generally comprises a base, side walls extending from it, and a loading opening defined by the side walls. However, it is also conceivable that the loading aids 9a..9e used in the presented method are designed as pallets or trays. Since a tray typically has (low) side walls, it can also be considered a container.

[0087] Furthermore, the proposed method or robot system 2a..2d, as well as the proposed storage and picking system 15, is suitable not only for the manipulation of more or less cuboid goods 26a..26e, but also for the manipulation of irregularly shaped goods 26a..26e.

[0088] It should also be noted that the robot controllers 11a and 11b intended for the robot systems 2c and 2d are also present in the storage and picking system 15, but in the Figure 3 are not explicitly shown. The same applies to the robot database 12, the central computer 13 and the central database 14, which may also be present in the warehouse and order picking system 15, but in the Figure 3 are not explicitly shown.

[0089] The function of the arrangements depicted in the figures is now explained in detail below: In the Figures 1 and 2The process of transferring goods 26a..26e from a first goods carrier 9a (source container) to a second goods carrier 9b (destination container) using the gripping unit 4 is illustrated. The goods carriers 9a and 9b, designed as box-shaped containers, are transported to the robot 1a, 1b by the conveyor system 10a and 10b for the transfer process and transported away from the robot 1a, 1b after the transfer. However, the transport of the goods 26a..26e using loading aids 9a and 9b is not a necessary condition; the goods 26a..26e can also be transported directly on the conveyor system if, for example, it comprises a belt conveyor, a link belt conveyor, or the like as the first conveying section 10a and a belt conveyor, a link belt conveyor, or the like as the second conveying section 10b. Of course, roller conveyors 10a and 10b could also be provided.Similarly, other loading aids, such as trays or boxes, could be used instead of containers 9a and 9b. If loading aids (containers, trays, boxes) are used as first carriers 10a in the area of ​​the robot system 2a..2d, from which or from which goods 26a..26e are removed with the suction grippers 5, the (source) loading aids can advantageously be loaded with goods 26a..26e of a single type or divided into compartments containing goods 26a..26e of a single type. For example, a first loading aid contains goods "A", a second loading aid contains goods "B", and so on. On the other hand, it is also possible for a loading aid to be divided into several receiving compartments by partitions and to be able to hold different goods "A", "B", whereby goods "A" can be held in the first receiving compartment and goods "B" in the second receiving compartment.

[0090] Generally, goods 26a..26e are distinguished with regard to one of the physical parameters: dimensional stability, compressive strength, flexural stiffness, tensile strength, absolute weight or specific weight, at least into goods 26a..26e of a first type and goods 26a..26e of a second type. Thus, goods 26a..26e can be distinguished, for example, into easily deformable and difficult-to-deform goods 26a..26e, soft / flexible and hard / rigid goods 26a..26e, flexible and rigid goods 26a..26e, unbreakable and fragile goods 26a..26e, light and heavy goods 26a..26e, as well as specifically light and specifically heavy goods 26a..26e.

[0091] Before picking up an item 26a..26e, its type is determined. Subsequently, the item 26a..26e is picked up from or onto the first carrier 9a by the gripping unit 4 and placed or dropped onto the second carrier 9b. The robot 1a, 1b and / or the gripping unit 4, in particular a movement of the robot 1a, 1b and / or the gripping unit 4, is controlled by the robot controller 11a, 11b depending on the type determined for the item 26a..26e.

[0092] To differentiate between goods 26a..26e into at least a first and second type, a threshold value is used, which is assigned to a physical parameter, for example the weight of goods 26a..26e. In this case, the threshold value is set at 1 kg.

[0093] In one variant of the proposed method, a program for controlling the robot 1a, 1b and / or the gripping unit 4, which is executed in the robot controller 11a, 11b, contains several program branches that are traversed depending on a physical property or parameter, or a type of goods 26a..26e. For example, the program flow can be controlled by an IF-ELSE condition, as shown below. IF goods = heavy THEN ... THE END IF goods weight > 1 kg THEN ... END

[0094] Alternatively or additionally, the movements of robot 1a, 1b can also be influenced by motion parameters. Motion parameters could include, for example, the speed and / or acceleration of gripper unit 4. The selection of such a motion parameter can, in turn, be done using an IF-THEN condition, as illustrated below using the example of the speed setting for gripper unit 4: IF goods = heavy THEN speed = 1 m / s END IF goods weight > 1 kg THEN speed = 1 m / s END

[0095] It is also conceivable that a movement parameter for the robot 1a, 1b is stored in the form of a data set, whereby the movement parameter is assigned to an identification of the goods 26a..26e, a physical property or a physical parameter of the goods 26a..26e or a type of the goods 26a..26e, as is shown below as an example: Identification number speed 15689090 1 m / s Product weight speed 1 kg 1 m / s Product type speed difficult 1 m / s

[0096] The relevant data records may be stored in the robot database 12 and / or in the central database 14.

[0097] The type of a good 26a..26e can be determined, for example, based on a physical property or parameter determined for that good 26a..26e. An example program flow for assigning a good 26a..26e to a specific type based on its weight could look like the following: IF goods > 1 kg THEN goods type = heavy END

[0098] A physical property of a product 26a..26e, for example its size, can be determined directly via the sensor system, i.e., in this example, using cameras 8a, 8b. Subsequently, the type of product 26a..26e can be determined.

[0099] It is also conceivable that the property of a good 26a..26e or the type of a good 26a..26e is determined via the identification of the good 26a..26e. In this process, a good 26a..26e is identified using the sensor system 8a, 8b (for example, this includes a barcode reader or an RFID reader for this purpose), and the associated physical parameter and / or the associated type is determined using a data record. For example, a data record could have the structure shown below: Identification number Product weight 15689090 1 kg Identification number Product type 15689090 difficult

[0100] The relevant data records can in turn be stored in the robot database 12 and / or in the central database 14.

[0101] It is also conceivable that a physical property or parameter of the goods 26a..26e, a type of the goods 26a..26e, or an identification of the goods 26a..26e is determined using the central computer 13, specifically by the central computer 13 knowing which goods 26a..26e are within the operating range of the robot 1a, 1b. For example, this can be done via position sensors in the conveyor rollers used in the conveyor system 10a, 10b. These position sensors can determine the position of a good 26a..26e on the conveyor system 10a, 10b or in the storage and order picking system 15, and thus also its physical properties, type, and / or identification.

[0102] It is also conceivable that program sections or code segments (applets) are obtained from the central controller 13 or the central database 14 and subsequently loaded into the robot controller 11a, 11b. These program sections or code segments can differ from one another for different product properties or product types. It would also be conceivable that pointers to program sections or code segments, which differ from one another for different product properties or product types, are obtained from the central controller 13 or the central database 14.

[0103] It should be noted that the measures proposed above for determining a physical property (a physical parameter) of a good 26a..26e, a type of a good 26a..26e, an identification of a good 26a..26e and / or a movement parameter of a robot 1a, 1b, as well as the measures for controlling the program sequence for the robot 1a, 1b, can be applied alone or in any combination.

[0104] The suction gripper 4 is activated before or after contact with an item 26a..26e, depending on the type of item 26a..26e. It is also conceivable that the contact plane of the suction gripper 4 can be inclined to a different degree relative to a gripping surface of the item 26a..26e when picking up an item 26a..26e, depending on the type of item 26a..26e (see also Figure 4In another variant, a collision of the gripping unit 4 with goods 26a..26e other than those to be picked up is avoided or permitted, depending on the type of the other goods 26a..26e. In yet another variant, the maximum speed and / or the maximum acceleration of the gripping unit 4 is selected depending on the type of goods 26a..26e. Furthermore, it is conceivable that a target position or target area for placing and / or dropping goods 26a..26e is calculated depending on the type of goods 26a..26e (see also). Figure 6 In another variant, depending on the type of goods 26a..26e, goods are either pressed against the side wall of a loading aid 9a, 9b during picking up or removed from the loading aid 9a, 9b without pressure on said side wall (see also Figure 5In another variant, the goods 26a..26e are dropped or placed onto the second goods carrier 9b, depending on the type of goods 26a..26e (see also). Figure 6 ).

[0105] It is also conceivable that the trajectory curve for the gripping unit 4 is modified based on the type of product 26a..26e. For example, softer / rounder movements can be provided for products 26a..26e of the second type (i.e., the trajectory curve has comparatively large radii), whereas the trajectory curve of the gripping unit 4 for products 26a..26e of the first type can also have tighter radii.

[0106] It is also conceivable that large goods 26a..26e may be lifted higher above a side wall of a loading aid 9a, 9b, especially if they are easily deformable, soft / flexible and / or flexible, than small goods 26a..26e, especially if they are difficult to deform, hard / rigid and / or rigid.

[0107] In the Figure 3A somewhat more complex arrangement is shown, specifically a storage and order picking system 15. Goods 26a..26e are delivered to goods receiving 17, loaded onto the first conveyor 19, transferred by the robot system 2c from the first conveyor 19 to the second conveyors 20a and 20b, and stored in the storage racks 22 using the stacker cranes 23a and 23b. In this process, the first conveyor 19 acts as the first goods carrier or source, whereas the second conveyors 20a and 20b act as the second goods carriers or destinations.

[0108] When a picking order needs to be processed, the goods 26a..26e assigned to the order are retrieved from at least one storage rack 22 using at least one storage and retrieval machine 23a and 23b and transferred to the third conveyor line 24. Subsequently, the goods 26a..26e are transported via the third conveyor line 24 to the robot system 2d, which then transfers them from the third conveyor line 24 to the fourth conveyor line 25. Finally, the goods are transported via the fourth conveyor line 25 to the goods issue point 18. In this process, the third conveyor line 24 acts as the first goods carrier or source, while the fourth conveyor line 25 acts as the second goods carrier or destination.

[0109] As from the Figure 3As can be seen, goods 26a, 26b and 26e are transported directly on conveyor lines 19, 20a, 20b, 24 and 25, which act as goods carriers, whereas goods 26c and 26d are transported using loading aids 9c..9e, which also act as goods carriers. In the Figure 3 This therefore constitutes a mixed mode of transport. It would also be conceivable, of course, that the goods 26a..26e are transported exclusively on the conveyor lines 19, 20a, 20b, 24 and 25, which function as goods carriers, or exclusively with the aid of loading equipment 9c..9e.

[0110] The design and arrangement of conveyor lines 19, 20a, 20b, 24 and 25 in the Figure 3This is, of course, only illustrative, and other shapes and arrangements of the aforementioned conveyor lines 19, 20a, 20b, 24, and 25 are conceivable. In particular, a ring-shaped conveyor line could also be arranged at goods receiving 17, or linear conveyor lines could be provided at goods dispatch 18. The conveyor connection of the robot system 2c and 2d to goods receiving 17, storage area 21, and goods dispatch 18 is also not necessarily via stationary conveyors, as shown in the Figure 3 as shown, but could also be done wholly or partly via autonomous transport vehicles (especially autonomous industrial trucks), whose loading platforms then also serve as goods carriers.

[0111] It would also be conceivable that the goods 26a..26e could be loaded directly onto the storage and retrieval machines 23a and 23b by the robot system 2c, or that the robot system 2d could transfer them directly from the storage and retrieval machines 23a and 23b. In this case, the loading platforms of the storage and retrieval machines 23a and 23b would also serve as product carriers.

[0112] It should also be noted that robots 1a and 1b do not necessarily have to be designed as articulated arm robots, but can also be designed as portal robots, for example.

[0113] It should also be mentioned that the goods 26a..26e may be arranged next to each other, one above the other, standing or lying down in or on the first goods carrier 9a, 9c, 9e, 10a, 19, 24, therefore in a disorderly (chaotic) or confused state.

[0114] It is further noted that the sensor system can include not only cameras 8a..8c, but alternatively or additionally also a barcode reader, an RFID reader, a scale, a depth sensor, a laser scanner and / or an ultrasonic sensor. With the help of these sensors, in particular a three-dimensional image of the goods 26a..26e lying in or on a goods carrier (for example, in the containers 9a..9e or on the conveyors 10a and 10b) can be captured.

[0115] In general, a three-dimensional scan can determine the surface structure of the goods 26a..26e and assess their suitability for gripping by the suction grippers 5. For example, strongly convex surfaces are less suitable for gripping, whereas flat surfaces are particularly easy to grip.

[0116] The Figure 4This shows an example of how a contact plane of the suction gripper 5 can be strongly inclined relative to a gripping surface 29 of the item 26f when picking up a product 26f of the first type. Specifically, the Figure 4A loading aid 9a has a base 27 and side walls 28 extending from this base 27. The loading area of ​​the loading aid 9a contains a product 26f with an inclined gripping surface 29. The angle to the horizontal is approximately 60°. Despite the steeply inclined gripping surface 29 of the product 26f, the contact plane of the suction gripper 5 remains horizontally oriented when the product 26f is picked up. Because products 26f of the first type are flexible, the gripping surface 29 is adjusted to the contact plane of the suction gripper 5 when the gripping unit 4 is lowered and ultimately aligns itself essentially horizontally. Since the contact plane of the suction gripper 5 is not aligned parallel to the gripping surface 29 of the product 26f when it is picked up, the transfer or order picking process can be carried out quickly.

[0117] The Figure 5Figure 5 shows an example of how a product 26f of the first type can be pressed against the side wall of a loading aid 9a during pickup. Specifically, Figure 5 again shows a loading aid 9a, which has a base 27 and side walls 28 extending from this base 27. The loading area of ​​the loading aid 9a contains a product 26f, positioned adjacent to the side wall 28, which has an obliquely oriented gripping surface 29. The angle to the horizontal is again approximately 60°. In this example, however, the contact plane of the suction gripper 5 is aligned essentially parallel to the gripping surface 29 when picking up the product 26f, thus also forming an angle of approximately 60° to the horizontal. To facilitate picking up the product 26f, the product 26f can be pressed against the side wall 28 with the pressure p, at least during the picking process.It is also conceivable that the goods 26f are pressed against the side wall 28 during lifting and thus drag along it until the goods 26f are completely lifted out of the container 9a.

[0118] The Figures 4 and 5Figure 1 shows the picking up of an item 26f of the first type. Items 26f of the second type, on the other hand, are picked up by the gripping unit 4 in a different way. In particular, when picking up an item 26f of the second type, the contact plane of the suction gripper 5 is inclined less sharply relative to the gripping surface of the item 26f than when picking up an item 26f of the first type. Specifically, the angle between said contact plane and said gripping surface is less than 20° for items of the second type, whereas the angle for items of the first type can be up to 70°. Furthermore, when picking up an item 26f of the second type, it is generally removed from the loading aid 9a without pressure being applied to the side wall 28 of the loading aid 9a.

[0119] The Figure 6 This shows an example of dropping a 26g item into the second carrier 9b. Specifically, the Figure 6a first loading aid 9a and a second loading aid 9b in a state in which the goods 26g have been removed from the first loading aid 9a and are now being held by the gripping unit 4.

[0120] To drop the item 26g, it would be conceivable for the gripper unit 4 to move vertically above the target position ZP to position P1, and for the item 26g to subsequently be released by the gripper unit 4 and fall into the second loading aid 9b. Since the falling of the item 26g is accompanied or influenced by circumstances that are not within the control of the robot 1a, 1b, a target area ZB is provided for the item 26g instead of a specific target position ZP.

[0121] It is also conceivable that the item 26g is moved by robot 1a, 1b to a release position P2, which lies vertically above and laterally adjacent to a target position ZP calculated for the item, or vertically above and laterally adjacent to a target area ZB calculated for the item 26g. Furthermore, the release position P2 is located at the starting point of a parabolic trajectory PA leading to the aforementioned target position ZP / target area ZB, for the calculation of which at least the velocity v of the gripping unit 4 (in magnitude and direction) at the release position P2 is used. Accordingly, the item 26g travels the path along the parabolic trajectory PA on its own and without being held by the gripping unit 4. Since this movement of the item 26g is also accompanied or influenced by circumstances that are not within the control of robot 1a, 1b, a target area ZB is again provided for the item 26g instead of a specific target position ZP.

[0122] In particular, the direction of movement of the gripping unit 4, or rather the direction of the movement speed v, is directed obliquely upwards at the release position P2, as shown in the Figure 6 This is shown. In this way, the 26g item can be thrown a relatively long distance. However, it would also be conceivable that the movement speed v has a different direction, for example, horizontally. The proposed measures can significantly reduce the distance that the gripping unit 4 has to travel to drop a 26g item.

[0123] The one in Figure 6The presented procedure is suitable for goods of the first type weighing 26g. Goods of the second type, on the other hand, are preferably placed in the loading aid 9b, i.e., lowered by means of the gripping unit 4 to such an extent that the goods 26g are supported by the base of the loading aid 9b or by other goods 26a..26f already in the loading aid 9b before the suction grippers 5 are deactivated. It is also conceivable that even goods 26g of the second type are dropped (from a low height) into the loading aid 9b. In particular, the drop height for goods 26g of the second type is less than 10 cm, whereas the drop height for goods 26g of the first type is more than 10 cm. In particular, goods 26g with geometric shapes that are well suited for stacking are placed in the second load carrier 9b in such a way as to achieve a high packing density. Such goods 26g have, in particular, flat boundary surfaces and are specifically cuboid in shape.

[0124] The Figures 4 to 6 The teachings referred to containers 9a and 9b. However, the disclosed teaching can, of course, also be applied without restriction to containers 9c and 9e, as well as to conveying devices 10a, 10b, 19, 20a, 20b, 24, and 25.

[0125] It is particularly advantageous if an unintentional drop of the picked goods 26a..26g from the gripping unit 4, as well as the unintentional placement / discarding of goods 26a..26g outside a tolerance range around the calculated target position ZP for said goods 26a..26g, is considered an error, and the speed and / or acceleration of the gripping unit 4 is reduced if the number of errors per unit of time exceeds a first predefinable threshold, and / or increased if the number of errors per unit of time falls below a second predefinable threshold. In this way, the process for transferring / picking goods 26a..26g can be adaptively adjusted to changing conditions. This does not require the cumbersome determination of the properties of goods 26a..Instead of determining the suitability of 26g for picking by gripping unit 4, the system utilizes the fact that this suitability can be deduced from the rate of errors occurring over time. This ensures that an optimum for the transfer speed or picking speed is always achieved for a given error rate.

[0126] It is noted here that goods 26a..26fg of the first type and goods 26a..26g of the second type are picked up and placed / discarded using the same gripping unit 4 within the framework of the processes described above. This saves time when changing gripping unit 4 and allows for the rapid transfer / picking of goods 26a..26g.

[0127] Finally, it is also noted that the scope of protection is determined by the patent claims. However, the description and the drawings must be used to interpret the patent claims.

[0128] It is specifically noted that the depicted devices may in reality comprise more or fewer components than shown. In some cases, the depicted devices or their components may also be shown not to scale and / or enlarged and / or reduced in size. Reference numeral list

[0129] 1a, 1bRobot 2a..2dRobot system 3Robot base 4Gripping unit 5Suction gripper 6. First robot arm segment 7. Second robot arm segment 8a..8c. Camera (sensor system) 9a..9e. Container (carrier) 10a, 10b. Conveyor technology (carrier) 11a, 11b Robot control 12 Robot database 13 Central computer 14 Central database 15 Storage and order picking system 16 Building wall 17 Goods receiving 18 Goods dispatch 19 First conveyor line (goods carrier) 20a, 20b Second conveyor line (goods carrier) 21 Storage area 22 Storage rack 23a, 23b Storage and retrieval machine 24 Third conveyor section (goods carrier) 25 Fourth conveyor section (goods carrier) 26a..26gWare 27Boden 28Seitenwall 29Griffenfläche p Pressure exerted by the gripping unit P1, P2 Release position PA Throwing trajectory v Speed ​​of the gripping unit at the release position ZB Target area ZP Target position

Claims

1. A method for controlling a robot (1a, 1b) in a storage and order-picking system (16), the robot (1a, 1b) comprising a gripping unit (4) which is movable in relation to a robot base (3) and has at least one suction gripper (5), in which the articles (26a..26g) are picked up from or out of a first article carrier (9a, 9c, 9e, 10a, 19, 24) and are placed or thrown in or on a second article carrier (9b, 9d, 10b, 20a, 20b, 25) by the gripping unit (4), wherein articles (26a..26g) are distinguished with respect to one of the following physical parameters: dimensional stability, compressive stability, flexural rigidity, strength, absolute weight or specific weight at least into articles (26a..26g) of a first type and articles (26a..26g) of a second type, wherein prior to picking up an article (26a..26g), the type of article (26a..26g) is determined, and wherein the article (26a..26g) is picked up from or out of the first article carrier (9a, 9c, 9e, 10a, 19, 24) and is placed down or thrown in or on the second article carrier (9b, 9d, 10b, 20a, 20b, 25) by the gripping unit (4), wherein the robot and / or the gripping unit (4) is controlled depending on the type determined for the article (26a..26g), characterized in that the at least one suction gripper (5), when picking up an article (26a..26g) of the first type, is activated prior to the contact of the at least one suction gripper (5) with the article (26a..26g), whereas the at least one suction gripper (5), when picking up an article (26a..26g) of the second type, is activated after the contact of the at least one suction gripper (5) with the article (26a..26g), wherein, if the physical parameter is dimensional stability, articles of the first type have an elastic modulus of less than 1.0 GPa, and articles of the second type have an elastic modulus of greater than or equal to 1.0 GPa, or wherein, if the physical parameter is compressive stability, articles of the first type have an elastic pressure modulus of less than 1.0 GPa or have a compressive spring constant of less than 0.5 N / cm under center loading, and articles of the second type have an elastic pressure modulus of greater than or equal to 1.0 GPa or have a compressive spring constant of greater than or equal to 0.5 N / cm under center loading, or wherein, if the physical parameter is flexural rigidity, articles of the first type have an elastic modulus of less than 1.0 GPa or have a bending spring constant of less than 0.01 Nm / °, and articles of the second type have an elastic modulus of greater than or equal to 1.0 GPa or have a bending spring constant of greater than or equal to 0.01 Nm / °, or wherein, if the physical parameter is strength, articles of the first type have a strength of less than 100 N / mm2, and articles of the second type have a strength of more than or equal to 100 N / mm2, or wherein, if the physical parameter is the absolute weight, articles of the first type have a weight of less than 1 kg, and articles of the second type have a weight of more than or equal to 1 kg, or wherein, if the physical parameter is the specific weight, articles of the first type have a specific weight of less than 1 g / cm3, and articles of the second type have a specific weight of more than or equal to 1 g / cm3.

2. The method according to claim 1, characterized in that a program for controlling the robot (1a, 1b) and / or the gripping unit (4) contains at least two program branches, wherein, based on the type of the article (26a..26g) to be picked up, a program branch intended for the type is run through.

3. The method according to claim 1 or 2, characterized in that motion parameters for the robot (1a, 1b), which are assigned to the physical properties and / or to the types of articles (26a..26g), are stored in a database (12, 14), a motion parameter for the robot (1a, 1b) is read from the database (12, 14) using the type of article (26a..26g) to be picked up, and the motion of the robot (1a, 1b) is controlled using the read motion parameter.

4. The method according to one of claims 1 to 3, characterized in that articles (26a..26g) of the first type are thrown in or on the second article carrier (9b, 9d, 10b, 20a, 20b, 25), whereas articles (26a..26g) of the second type are placed in or on the second article carrier (9b, 9d, 10b, 20a, 20b, 25).

5. The method according to one of claims 1 to 4, characterized in that, when an article (26a..26g) of the first type is picked up, a contact plane of the at least one suction gripper (5) is tilted by up to 70° in relation to a gripping surface (29) of the article (26a..26g), whereas, when an article (26a..26g) of the second type is picked up, the contact plane is tilted by a maximum of 20° in relation to a gripping surface (29) of the article (26a..26g).

6. The method according to one of claims 1 to 5, characterized in that a collision of the gripping unit (4) with another article than the article (26a..26g) to be picked up is prevented if the other article (26a..26g) is an article (26a..26g) of the second type, and a collision of the gripping unit (4) with another article than the article (26a..26g) to be picked up is allowed if the other article (26a..26g) is an article (26a..26g) of the first type.

7. The method according to one of claims 1 to 6, characterized in that the maximum speed of the gripping unit (4) is higher for articles (26a..26g) of the first type than for articles (26a..26g) of the second type and / or the maximum acceleration of the gripping unit (4) is higher for articles (26a..26g) of the first type than for articles (26a..26g) of the second type.

8. The method according to one of claims 1 to 7, characterized in that a specific target position (ZP) in or on the second article carrier (9b, 9d, 10b, 20a, 20b, 25) is calculated for articles (26a..26g) of the second type, whereas a target region (ZB) with multiple possible target positions (ZP) in or on the second article carrier (9b, 9d, 10b, 20a, 20b, 25) is calculated for articles (26a..26g) of the first type.

9. The method according to claim 4, characterized in that an article (26a..26g) of the first type is moved vertically above a target position (ZP) calculated for the article (26a..26g) or vertically above a target region (ZB) calculated for the article (26a..26g) by the robot (1a, 1b) and is then released.

10. The method according to one of claims 1 to 9, characterized in that unintended dropping of the article (26a..26g) picked up by the gripping unit (4) as well as unintended placing / throwing of an article (26a..26g) outside a tolerance region around a calculated target position (ZP) of the article (26a..26g) is assessed as an error, and the speed and / or acceleration of the gripping unit (4) is reduced if the number of errors per time unit exceeds a first settable threshold and / or is increased if the number of errors per time unit comes below a second settable threshold.

11. The method according to one of claims 1 to 10, characterized in that the first article carrier and / or the second article carrier configured as a loading aid (9a..9e) or a conveying device (10a, 10b, 19, 20a, 20b, 24, 25), wherein the loading aid (9a..9e) has a bottom (27), side walls (28) rising up from the bottom (27) and a loading opening bounded by the side walls (28).

12. The method according to claim 11, characterized in that an article (26a..26g) of the first type lying adjacent to a side wall (28) of the loading aid (9a..9e) is pressed against the side wall (28) when the article is picked up, whereas an article (26a..26g) of the second type lying adjacent to a side wall (28) of the loading aid (9a..9e) is removed from the loading aid (9a..9e) without any pressure (p) on the side wall (28) when the article is picked up.

13. The method according to one of claims 1 to 12, characterized in that articles (26a..26g) of the first type and articles (26a..26g) of the second type are picked up and placed / thrown by the same gripping unit (4).

14. The method according to one of claims 1 to 13, characterized in that, according to an order, the articles (26a..26g) are transported to the robot (1a, 1b) using the first article carrier (9a, 9c, 9e, 10a, 19, 24), are transferred from or out of the first article carrier (9a, 9c, 9e, 10a, 19, 24) in or on the second article carrier (9b, 9d, 10b, 20a, 20b, 25) using the robot (1a, 1b), and are transported away from the robot (1a, 1b) using the second article carrier (9b, 9d, 10b, 20a, 20b, 25).

15. A robot system (2a..2d), comprising a robot (1a, 1b) having a gripping unit (4) which is movable in relation to a robot base (3) and has at least one suction gripper (5) for picking up articles (26a..26g), wherein the robot (1a, 1b) is configured for picking up articles (26a..26g) from or out of a first article carrier (9a, 9c, 9e, 10a, 19, 24) and placing or throwing these in or on a second article carrier (9b, 9d, 10b, 20a, 20b, 25) by the gripping unit (4), and a robot controller (11a, 11b) configured for instructing the robot (1a, 1b) to pick up the articles (26a..26g) from or out of the first article carrier (9a, 9c, 9e, 10a, 19, 24) and to place or throw the article in or on the second article carrier (9b, 9d, 10b, 20a, 20b, 25), wherein the articles (26a..26g) are distinguished with respect to one of the following physical parameters: dimensional stability, compressive stability, flexural rigidity, strength, absolute weight or specific weight at least into articles (26a..26g) of the first type and articles (26a..26g) of the second type, characterized in that the robot controller (11a, 11b) is further configured, when an article (26a..26g) of the first type is picked up, to activate the at least one suction gripper (5) prior to the contact of the at least one suction gripper (5) with the article (26a..26g) and, when an article (26a..26g) of the second type is picked up, to activate the at least one suction gripper (5) after the contact of the at least one suction gripper (5) with the article (26a..26g), wherein, if the physical parameter is dimensional stability, articles of the first type have an elastic modulus of less than 1.0 GPa, and articles of the second type have an elastic modulus of greater than or equal to 1.0 GPa, or wherein, if the physical parameter is compressive stability, articles of the first type have an elastic pressure modulus of less than 1.0 GPa or have a compressive spring constant of less than 0.5 N / cm under center loading, and articles of the second type have an elastic pressure modulus of greater than or equal to 1.0 GPa or have a compressive spring constant of greater than or equal to 0.5 N / cm under center loading, or wherein, if the physical parameter is flexural rigidity, articles of the first type have an elastic modulus of less than 1.0 GPa or have a bending spring constant of less than 0.01 Nm / °, and articles of the second type have an elastic modulus of greater than or equal to 1.0 GPa or have a bending spring constant of greater than or equal to 0.01 Nm / °, or wherein, if the physical parameter is strength, articles of the first type have a strength of less than 100 N / mm2, and articles of the second type have a strength of more than or equal to 100 N / mm2, or wherein, if the physical parameter is the absolute weight, articles of the first type have a weight of less than 1 kg, and articles of the second type have a weight of more than or equal to 1 kg, or wherein, if the physical parameter is the specific weight, articles of the first type have a specific weight of less than 1 g / cm3, and articles of the second type have a specific weight of more than or equal to 1 g / cm3.

16. The robot system (2a..2d) according to claim 15, characterized by a robot database (12) in which motion parameters for the robot (1a, 1b) are stored, the motion parameters being assigned to the physical properties and / or to the types of articles (26a..26g) and being provided for controlling the motion of the robot (1a, 1b) and / or the gripping unit (4).

17. A storage and order-picking system (16) for order-picking of articles (26a..26g) comprising a storage area (21) for storing articles (26a..26g), a working area for picking / repacking articles and a robot system (2a..2d), characterized in that the robot system (2a..2d) is configured according to claim 15 or 16.

18. The storage and order-picking system (16) according to claim 17, characterized in that the working area is configured for fully automated order-picking of articles (26a..26g), and a first conveying system for transporting articles (26a..26g) in or on first article carriers (9a, 9c, 9e, 10a, 19, 24) is arranged between the storage area (21) and the robot (1a, 1b) in the working area, and / or a second conveying system for transporting articles (26a..26g) in or on second article carriers (9b, 9d, 10b, 20a, 20b, 25) is provided between the storage area (21) and the robot (1a, 1b) in the working area, wherein the robot (1a, 1b) is configured for picking up at least one article (26a..26g) from or out of the first article carrier (9a, 9c, 9e, 10a, 19, 24) for an order and to place or throw the at least one article (26a..26g) in or on the second articles carrier (9b, 9d, 10b, 20a, 20b, 25) for the order.