Vacuum control method for a pneumatic gripping system

Abstract

A method (P) for controlling vacuum for a pneumatic gripping system (10) which comprises a vacuum source (26), a plurality of gripping members (13) and a pneumatic circuit (20), the pneumatic circuit (20) comprising a plurality of valves (27), each valve (27) being associated with a corresponding set of gripping members and being configured to switch between a closed position (F) and an open position (O), the pneumatic gripping system (10) comprising a vacuum sensor (28) adapted to measure a vacuum level in the pneumatic circuit (20) between the vacuum source (26) and the plurality of valves (27). Abstract Figure: Figure 2

Description

Title of the invention: Vacuum control method for a pneumatic gripping system Technical field

[0001] The present description relates to a vacuum control method for a pneumatic gripping system. The present description also relates to a computer program comprising instructions for implementing such a method. The present description further relates to a computer-readable recording medium on which a program for implementing the method is recorded. Finally, the description relates to a gripping system suitable for implementing the method. Prior art

[0002] In the field of logistics, it is known to carry out an operation of gripping an object by a robotic device comprising an arm generally movable along 5 or 6 axes, and provided at its movable end with one or more gripping members, each comprising for example a suction cup and / or foam, making it possible to grip the object.

[0003] In order for each gripping member to be able to grasp the object, as shown in [Fig.l], a pneumatic circuit 200 is generally provided comprising a vacuum source 206, such as a mechanical vacuum pump or a venturi vacuum generator, configured to create, at the level of each gripping member, a depression necessary for grasping the object.

[0004] The objects may be of different sizes, shapes and weights, or even of different surface textures, hence the need to provide a plurality of gripping members 213. In this case, the pneumatic circuit generally comprises a main pipe 201 at which the vacuum source 206 is arranged and a plurality of secondary pipes 202 fluidly connected to the main pipe 201 at a node 204, each secondary pipe 202 serving one of the plurality of gripping members 213. It may also be provided, at each secondary pipe 202, a selective opening / closing means, such as a valve 207, making it possible to open or close to the atmosphere the pneumatic circuit 200 between the vacuum source 206 and the corresponding gripping member 213 served by said secondary pipe 202 to deactivate or activate this gripping member 213 punctually. grip 213, respectively.In other words, each valve 207 can switch between a closed position in which the corresponding gripping member 213 is in fluid communication with the vacuum source 206 and is therefore subject to the level. of vacuum (or pressure) established by the vacuum source 206; and an open position in which the gripping member 213 is in fluid communication with the atmosphere and is therefore subjected to atmospheric pressure. In the closed position of the valve 207, the corresponding gripping member 213 is able to participate in gripping the object, and in the open position of the valve 207, the corresponding gripping member 213 is deactivated, it cannot participate in gripping the object.

[0005] In order to carry out the gripping operation under good conditions, a sufficient vacuum level is necessary at each gripping member 213. For example, depending on the shape and / or texture of the object to be gripped, one or more of the gripping members may not be in direct and close contact with the object to be gripped, thus creating a leak to the atmosphere which impacts the vacuum level at the other gripping members. For this reason, it is desirable to be able to check the vacuum level at each gripping member 213. Indeed, for example, in order to guarantee a sufficient gripping level of the device during a gripping operation, it may be necessary to deactivate one or more gripping members 213 among the plurality of gripping members in the case where an insufficient vacuum level, or even a leak, is detected at said one or more gripping members.

[0006] A solution known from document WO 2016 / 010968 consists of arranging a vacuum sensor 208 at each secondary pipe between the node 204 and the corresponding gripping member 213 to measure a vacuum pressure at each gripping member 213. The gripping members for which the corresponding pressure sensors indicate the lowest vacuum pressures or below a predetermined threshold are deactivated.

[0007] However, this solution has the disadvantage of requiring a sensor 208 for each gripping member 213. It is understood that in the case where the device comprises a large number of gripping members 213 then an equally large number of sensors 208 is necessary, which increases the cost of the device and its complexity. On the other hand, due to the fluid communication between the secondary conduits 202 at the node 204, several vacuum sensors 208 can indicate an insufficient vacuum level despite only one gripping member 213 among the plurality of gripping members 213 having an insufficient vacuum level, or even a leak. It then proves complicated to identify with certainty said gripping member 213 which has an insufficient vacuum level, or even a leak, among the plurality of gripping members 213. Summary

[0008] A vacuum control method is provided for a pneumatic gripping system that includes a vacuum source, a plurality of gripping members, and a pneumatic circuit configured to fluidly connect the plurality of gripping members with the vacuum source, the pneumatic circuit comprising a plurality of valves, each valve being associated with a corresponding set of gripping members comprising one or more gripping members among the plurality of gripping members, each valve being configured to switch between a closed position in which said valve places said corresponding set of gripping members in fluid communication with the vacuum source and an open position in which said valve places said corresponding set of gripping members in fluid communication with the atmosphere, the pneumatic gripping system further comprising at least one vacuum sensor adapted to measure a vacuum level in the pneumatic circuit between the vacuum source and the plurality of valves, the method comprising: - / A / activating the vacuum source in order to establish a depression between the plurality of gripping members and the object, - / B / switching the plurality of valves into their respective closed position, - / C / positioning the plurality of gripping members on an object to be gripped, - / D / measuring a reference vacuum level by said vacuum sensor, the method comprising the following sequence / K7: - / Ka / switching at least one valve among the plurality of valves into the open position, - / Kb / the measurement of a vacuum level by said vacuum sensor, - / Kc / the comparison of the measured vacuum level with the reference vacuum level, - / Kd / the determination that at least one of the gripping members of the set of gripping members corresponding to said at least one valve has a leak in the case where the measured vacuum level is higher than the reference vacuum level.

[0009] The sequence / K7 may comprise a step / Kd7 of switching said at least one valve into the closed position in the case where the measured vacuum level is equal to the reference vacuum level.

[0010] Step / D / may comprise a subsidiary step which comprises: - comparing the reference vacuum level to a threshold vacuum level, the threshold vacuum level being determined to correspond to a vacuum level sufficient to allow the object to be grasped, and - determining that the plurality of gripping members is capable of gripping the object if the reference vacuum level is greater than or equal to the threshold vacuum level.

[0011] The / K7 sequence may not be performed when the reference vacuum level is greater than or equal to the threshold vacuum level.

[0012] Step / Ka / may comprise switching into the respective open position a single valve among the plurality of valves.

[0013] The sequence / K7 may be repeated with at least one other valve among the plurality of valves.

[0014] The sequence / K7 may be repeated with each valve among the plurality of valves.

[0015] The sequence / K7 may include a step / Ke / directly or indi directly from step / Kd / and which includes:

[0016] - the comparison of the vacuum level measured during step / Kc / with the level of threshold vacuum and - determining that the gripping members of the gripping member assemblies corresponding to the valves in their closed position are capable of gripping the object.

[0017] The sequence / K7 can be repeated with at least one other valve among the plurality of valves, the reiteration of the sequence / K7 being interrupted when the vacuum level N(k) measured in step / Kc / is greater than or equal to the threshold vacuum level.

[0018] The sequence / K7 may comprise a step / Kf / directly or indirectly following the step / Kd / and which comprises updating the reference vacuum level to coincide with the vacuum level measured in the step / Kc / .

[0019] The sequence / K7 may comprise a step / Kh / directly or indirectly following the step / Kd / and which comprises switching said at least one valve among the plurality of valves into the closed position.

[0020] The method may comprise a step / E / consecutive to the iterative sequence / K7 and which comprises switching into the open position each of the valves among the plurality of valves which have been identified as being associated with a set of corresponding gripping members exhibiting a leak.

[0021] The pneumatic gripper system may include a single vacuum sensor between the vacuum source and the plurality of valves.

[0022] A computer program is also provided comprising instructions for implementing the method as described above.

[0023] There is also provided a recording medium readable by a computer on which is recorded a program for implementing the method as described above when this program is executed by a processor.

[0024] Also disclosed is a pneumatic gripping system that includes a vacuum source, a plurality of gripping members, and a pneumatic circuit configured to fluidly connect the plurality of gripping members to the vacuum source. The pneumatic circuit includes a plurality of valves, each valve associated with a corresponding set of one or more gripping members among the plurality of gripping members, said valve being configured to switch between a closed position in which said valve fluidly connects said corresponding set of one or more gripping members to the vacuum source and an open position in which said valve places said set of one or more corresponding gripping members in fluid communication with the atmosphere. The pneumatic gripping system further comprises at least one vacuum sensor adapted to measure a vacuum level in the pneumatic circuit between the vacuum source and the plurality of valves, and at least one control unit for carrying out the method as described above. Brief description of the drawings

[0025] Other characteristics, details and advantages will appear on reading the detailed description below, and on analyzing the attached drawings, in which:

[0026] [Fig-1] represents a diagram of a pneumatic circuit serving gripping members of a pneumatic gripping system according to the known state of the art.

[0027] [Fig.2] represents a schematic view of a pneumatic gripping system according to this description.

[0028] [Fig.3] represents a flowchart of a vacuum control method for the system pneumatic gripper of [Fig.2].

[0029] [Fig.4] represents a diagram of a first variant of pneumatic circuit serving gripping organs of the pneumatic gripper system of [Fig.2]

[0030] [Fig.5] represents a diagram of a second variant of pneumatic circuit serving gripping organs of the pneumatic gripper system of [Fig.2]

[0031] [Fig.6] represents a flowchart of a first variant of an iterative sequence of the control process of [Fig.3].

[0032] [Fig.7] represents a flowchart of a second variant of an iterative sequence of the control process of [Fig.3].

[0033] [Fig.8] includes graphs which illustrate the implementation of the method according to a first scenario.

[0034] [Fig.9] includes graphs which illustrate the implementation of the method according to a second scenario.

[0035] [Fig. 10] includes graphs that illustrate the implementation of the method according to a third scenario.

[0036] [Fig. 11] includes graphs that illustrate the implementation of the method according to a fourth scenario. Description of the embodiments

[0037] A vacuum control method P for a pneumatic gripping system is now described with reference to FIGS. 2 to 7. This vacuum control method makes it possible, for example, to identify a configuration of the gripping system, in particular in terms of opening and closing of valves, so that it is capable of gripping an object.

[0038] As shown in Figures 2, 4 and 5, the pneumatic gripping system 10 comprises a vacuum source 26, a plurality of gripping members 13 and a pneumatic circuit 20 configured to put the plurality of gripping members 13 in fluid communication with the vacuum source 26. The pneumatic circuit 20 comprises a plurality of valves 27, each valve 27 being associated with a corresponding set of gripping members comprising one or more gripping members 13 among the plurality of gripping members 13. Each valve 27 is configured to switch between a closed position F in which said valve 27 puts said corresponding set of gripping members 13 in fluid communication with the vacuum source 26 and an open position O in which said valve 27 puts said corresponding set of gripping members 13 in fluid communication with the atmosphere.In its open position, the valve 27 places said one or more corresponding gripping members 13 in fluid communication with the atmosphere, while blocking fluid communication between the vacuum source 26 and said one or more corresponding gripping members 13.

[0039] According to an equivalent formulation, the plurality of gripping members 13 may comprise at least i gripping members 13, i being an integer greater than or equal to 2. The pneumatic circuit 20 may be configured to put each of the i gripping members 13 into fluid communication with the vacuum source 26. The plurality of valves 27 may comprise at least j valves 27, j being an integer greater than or equal to 2 and being less than or equal to i.

[0040] The pneumatic gripping system 10 further comprises at least one vacuum sensor 28 adapted to measure a vacuum level in the pneumatic circuit 20 between the vacuum source 26 and the plurality of valves 27. According to an equivalent formulation, the vacuum sensor 28 is adapted to measure a vacuum level upstream of the plurality of valves 27. The vacuum level measured by the vacuum sensor 28 can be expressed as a percentage. In the case where the vacuum level is equal to 0%, this means that the pressure in the pneumatic circuit 20 at the vacuum sensor 28 is equal to atmospheric pressure. In the case where the vacuum level is equal to 100%, this means that the pressure in the pneumatic circuit 20 at the vacuum sensor 28 is zero.

[0041] With reference to the flowchart of [Fig.3], the method P comprises: - / A / activating the vacuum source 26 in order to establish a depression between the plurality of gripping members 13 and the object 100, - / B / switching the plurality of valves 27 into their respective closed position F, - / C / the positioning of the plurality of gripping members 13 on an object 100 to to input, - / D / the measurement of a reference vacuum level Nr by said vacuum sensor 28, the method P comprising the sequence / K / , the logic diagram of which is represented according to the variant in figures 6 and 7, as follows: - / Ka / switching into the open position O at least one valve 27 among the plurality of valves 27, - / Kb / the measurement of a vacuum level N(k) by said vacuum sensor 28, - / Kc / the comparison of the measured vacuum level N(k) with the reference vacuum level Nr, - / Kd / determining that at least one of the gripping members 13 of the set of gripping members corresponding to said at least one valve 27 has a leak in the case where the measured vacuum level N(k) is greater than the reference vacuum level Nr.

[0042] The reference vacuum level corresponds to the vacuum level measured in step / D / , i.e. when all the valves are in the closed position.

[0043] The method P advantageously requires at least a single vacuum sensor 28, which reduces the complexity of the pneumatic gripping system and the cost of such a pneumatic gripping system. Furthermore, the method P makes it possible to identify with certainty the valve(s) 27 associated with one or more gripping members 13 exhibiting a leak. A leak at the level of a gripping member 13 may in particular result from poor positioning of said gripping member 13 on the object 100 or from a surface condition of the object at the level of the gripping member that is not suitable or poorly suited to gripping, for example too porous, or from a failure of a gripping member, a valve and / or a pipe of the pneumatic system.

[0044] More particularly, the sequence / K7 can be called “iterative sequence / K / ” and comprise, in an equivalent manner, a plurality of iterations, each iteration being defined by a rank k ranging from 1 to n, n being an integer greater than or equal to 2, each iteration of rank k comprising: - / Ka / switching into the respective open position O of at least one kth valve 27 among the plurality of valves 27, said kth valve 27 preferably being respective of the iteration of rand k, - / Kb / the measurement of a kth vacuum level N(k) by said vacuum sensor 28, - / Kc / the comparison of the kth vacuum level N(k) measured with the reference vacuum level Nr, - / Kd / determining that at least one of said one or more corresponding gripping members 13 associated with said at least one kth valve 27 has a leak in the case where the kth measured vacuum level N(k) is greater than the reference vacuum level Nr.

[0045] It can be determined that at least one of said one or more corresponding gripping members 13 associated with said at least one kth valve 27 has a leak during step / Kd / in the case where the kth vacuum level N(k) is greater than the reference vacuum level Nr by at least 10%, and preferably by at least 5%. In the iterative sequence / K7 described above and below, it is further understood that k is an integer between 1 and n.

[0046] The sequence / K7 may comprise a step / Kd7 of switching said at least one valve 27 into the closed position F in the case where the vacuum level N(k) is equal to the reference vacuum level Nr.

[0047] Also, in connection with the iterative formulation of the sequence / K / , each iteration of rank k may comprise a step / Kd' / instead of the step / Kd / . The step / Kd7 may comprise the switching of the kth valve 27 among the plurality of valves 27 into the respective closed position F in the case where the kth vacuum level N(k) is equal to the reference vacuum level Nr. In the case where the kth vacuum level N(k) is equal to the reference vacuum level Nr, it may be deduced that none of said one or more corresponding gripping members 13 associated with said at least one kth valve 27 has a leak. The kth vacuum level N(k) may be said to be equal to the reference vacuum level Nr to within plus or minus 5%, preferably to within plus or minus 2%, more preferably to within plus or minus 1%. Steps / Kd7 and / Kd / are mutually exclusive. In this sense, process P includes either step / Kd / or step / Kd7.

[0048] Step / D / may comprise a subsidiary step which comprises: - comparing the reference vacuum level Nr to a threshold vacuum level Ns, the threshold vacuum level Ns being determined to correspond to a vacuum level sufficient to allow the object 100 to be gripped, and - determining that the plurality of gripping members 13 is capable of gripping the object if the reference vacuum level Nr is greater than or equal to the threshold vacuum level Ns.

[0049] In other words, the threshold vacuum level Ns can be determined to correspond to a vacuum level making it possible to obtain a gripping force by the plurality of gripping members 13 sufficient to grasp and move the object 100 without the latter becoming “detached” from the plurality of gripping members.

[0050] Alternatively, the threshold vacuum level Ns is determined to correspond to a vacuum level for which none of the plurality of gripping members 13 has a leak. Alternatively, the threshold vacuum level Ns is determined to correspond to a vacuum level for which less than 10%, preferably less than 5%, of the plurality of gripping members 13 have a leak.

[0051] The threshold vacuum level may be updated based on the number of gripping members exhibiting a leak in order to obtain sufficient gripping force to grasp the object. For example, if one of the n gripping members If the gripping device has a leak, the updated vacuum level will be higher than the initial vacuum level because the mass of the object to be grasped will be distributed over n-1 gripping devices instead of n gripping devices.

[0052] The sequence / K7 may not be carried out when the reference vacuum level Nr is greater than or equal to the threshold vacuum level Ns. This makes it possible to verify the need to carry out the iterative sequence / K / . Since the plurality of valves 27 is switched into their respective closed position F during the step / B / , it is possible to obtain an initial vacuum level which is already greater than the threshold vacuum level Ns. Consequently, it may be chosen to omit the iterative sequence aimed at identifying one or more gripping members 13 exhibiting a leak. The sequence / K7 may therefore be optional. Indeed, if the initial vacuum level measured during the step / D / is greater than the threshold vacuum level Ns, either no gripping member 13 exhibits a leak or only certain gripping members 13 exhibit a leak without this impairing the gripping of the object 100.

[0053] According to another formulation, the sequence / K7 is carried out when the reference vacuum level Nr is lower than the threshold vacuum level Ns. According to a variant, the iterative sequence / K7 can be carried out if the reference vacuum level Nr is lower than the threshold vacuum level Ns by at least 10%, preferably by at least 5%.

[0054] The step / Ka / may comprise switching into the respective open position O of a single valve 27 among the plurality of valves 27. Also, in connection with the iterative formulation of the sequence / K / , the step / Ka / of each iteration of rank k may comprise switching into the respective open position O of a kth single valve 27 among the plurality of valves 27, the integer n preferably being equal to the number of valves 27 among the plurality of valves 27. This makes it possible to more precisely control said one or more corresponding gripping members 13 associated with the kth single valve 27. In other words, said one or more corresponding associated gripping members 13 are controlled individually.

[0055] Preferably, as shown in [Fig.4], each valve 27 may be associated with a single corresponding gripping member 13 among the plurality of gripping members 13. This allows individual control for each gripping member 13 and thus to identify with certainty a gripping member 13 which is leaking among the plurality of gripping members 13. In the case where each valve 27 is associated with a single corresponding gripping member 13 among the plurality of gripping members 13 and the step / Ka / of each iteration of rank k comprises the switching into the respective open position O of a kth single valve 27 among the plurality of valves 27, then the integer n may be equal to the number of gripping members 13 among the plurality of gripping members 13.

[0056] The step / Ka / of each iteration of rank k may comprise switching in the respective open position O of a plurality of kth valves 27 among the plurality of valves 27. In particular, step / Ka / of each iteration of rank k may comprise switching into the respective open position O of a group of kth valves 27 among the plurality of valves 27. In other words, the plurality of valves 27 may be divided into groups of valves 27, each iteration of rank k comprising switching into the open position O of the valves 27 of one of the groups of valves 27 during step / Ka / , these valves 27 being called "kth valves 27". Such an approach makes it possible to carry out a dichotomous identification of the gripping members 13 exhibiting a leak, which is advantageously rapid when a small number of gripping members 13 among the plurality of gripping members 13 exhibit a leak. This speeds up the identification of the valve(s) 27 associated with one or more gripping members 13 exhibiting a leak.

[0057] The sequence / K7 can be repeated with at least one other valve 27 among the plurality of valves. The sequence / K7 can also be repeated with each valve 27 among the plurality of valves. Also, in connection with the iterative formulation of the sequence / K / , each valve 27 among the plurality of valves 27 can be switched into the respective open position O during the step / Ka / of at least one iteration of rank k among the plurality of iterations of the iterative sequence / K / . This ensures that each of the valves 27 associated with one or more gripping members 13 exhibiting a leak is identified.

[0058] The iterative sequence can be interrupted after the iteration of rank n. Each iteration of rank k can comprise a step / Kg / directly or indirectly following the step / Kd / or / Kd7 and which comprises the incrementation of rank k by 1 and the comparison of rank k to the integer n. In the case where rank k is equal to the integer n, then the iterative sequence is interrupted.

[0059] With reference to the variant of [Fig.6], the sequence / K7 may comprise a step / Ke / directly or indirectly following the step / Kd / and which comprises the comparison of the vacuum level N(k) measured during the step / Kc / with respect to the threshold vacuum level Ns. The step / Ke / may also comprise the determination that the gripping members 13 of the sets of gripping members corresponding to the valves in their closed position F are capable of gripping the object if this measured reference vacuum level (N(k)) is greater than or equal to the threshold level Ns.

[0060] The sequence / K7 can be repeated with at least one other valve 27 among the plurality of valves, the reiteration of the sequence / K7 being interrupted when the vacuum level N(k) measured in step / Kc / is greater than or equal to the threshold vacuum level Ns.

[0061] Also, in connection with the iterative formulation of the sequence / K / , the step / Ke / comprises the comparison of the kth vacuum level N(k) measured during the step / Kc / of the iteration of rank k with respect to the threshold vacuum level Ns, the iterative sequence ÏKJ being interrupted after step / Ke / of the iteration of rank k during which the kth vacuum level N(k) measured during step / Kc / is greater than or equal to the threshold vacuum level Ns. This makes it possible to interrupt the method P as soon as the threshold vacuum level Ns is reached, that is to say as soon as it can be sure that no gripping member 13 has a leak or that it can be ensured that the object 100 is gripped and thus shorten the execution time of the method P. In other words, the iterative sequence / K7 can be repeated until the measured vacuum level reaches the threshold vacuum level Ns. Also, the iterative sequence / K7 can therefore be interrupted before the iteration of rank n, from the iteration of rank k during which the kth vacuum level N(k) measured during the step / Kc / is greater than or equal to the threshold vacuum level Ns.The step / Ke / can be directly or indirectly consecutive to the step / Kg / .

[0062] The sequence / K7 comprises a step / Kf / directly or indirectly following the step / Kd / and which comprises updating the reference vacuum level Nr to coincide with the vacuum level N(k). Also, in connection with the iterative formulation of the sequence / K / , each iteration of rank k may comprise a step / Kf / directly or indirectly following the step / Kd / and which comprises updating the reference vacuum level Nr to coincide with the kth vacuum level N(k).

[0063] According to the variant of [Fig.7], in which the sequence / K7 comprises a step / Kh / directly or indirectly following the step / Kd / and which comprises the switching of said at least one valve 27 among the plurality of valves 27 into the closed position F. Also, in connection with the iterative formulation of the sequence / K / , each iteration of rank k may comprise a step / Kh / directly or indirectly following the step / Kd / and which comprises the switching of said at least one kth valve 27 among the plurality of valves 27 into the respective closed position F. The comparison of the kth vacuum level N(k) at each iteration of rank k may be carried out with respect to the reference vacuum level Nr measured in step / D / . This avoids updating the reference vacuum level Nr, thereby saving computing power and computer memory.

[0064] According to the variant of [Fig.7], steps / Ke / and / Kf / are not carried out.

[0065] Still according to the variant of [Fig.7], the method P can comprise a step / E / consecutive to the iterative sequence / K7 and which comprises the switching into the open position O of each of the valves 27 among the plurality of valves 27 which have been identified as being associated with a set of corresponding gripping members 13 exhibiting a leak.

[0066] According to an equivalent variant of the method as described above, the vacuum sensor 28 can be adapted to measure a pressure in the pneumatic circuit 20 between the vacuum source 26 and the plurality of valves 27. The pressure can be measured in Pa or in bar or any other unit of pressure. According to this variant, it is identified during step / Kd / that at least one of said one or more corresponding gripping members 13 associated with said at least one kth valve 27 has a leak in the case where the kth pressure is lower than a reference pressure measured during step / D / . According to this variant, the subsidiary step of step / D / may comprise comparing the reference pressure to a threshold pressure, the iterative sequence / K7 being carried out if the reference pressure is higher than the threshold pressure. The threshold pressure may be determined in a similar manner to the threshold vacuum level Ns.

[0067] According to another aspect, a method of moving said object 100 from an initial point to an end point by the pneumatic gripper system 10 may be proposed, said moving method being carried out after the vacuum control method P.

[0068] The pneumatic gripper system 10 is now described in more detail with reference to FIGS. 2, 4 and 5.

[0069] The pneumatic gripping system 10 may comprise a robotic arm 11. Each of the gripping members 13 may be connected to a mobile end 12 of the robotic arm 11. The pneumatic circuit 20 may be integrated into the robotic arm 11. The robotic arm 11 may be a polyarticulated arm, in particular defining at least six axes of rotation and which is adapted to move and / or orient the mobile end 12 according to six degrees of freedom.

[0070] The pneumatic circuit 20 may comprise at least one primary pipe 21. The vacuum source 26 may be arranged at the level of the primary pipe 21. Said at least one sensor may be adapted to measure a vacuum level at the level of the primary pipe 21.

[0071] The pneumatic circuit 20 may comprise a plurality of secondary conduits 22. Each valve 27 among the plurality of valves 27 may be arranged at a respective secondary conduit 22 among the plurality of secondary conduits 22. The pneumatic circuit 20 may comprise at least one primary node 24 connecting the primary conduit 21 to one or more, or even all, of the plurality of secondary conduits 22.

[0072] The pneumatic circuit 20 may comprise a plurality of tertiary conduits 23. Each gripping member 13 among the plurality of gripping members 13 may be arranged at a tertiary conduit 23 among the plurality of tertiary conduits 23. The pneumatic circuit 20 may comprise at least one secondary node 25 connecting the secondary conduit 22 of each valve 27 to one or more, or even all, of the tertiary conduits 23 serving said one or more corresponding gripping members 13 associated with said valve 27.

[0073] Each valve 27 can be of the “3 / 2” type, in this sense it distributes the fluid between three ways, typically an inlet, an outlet and an exhaust. The circuit pneumatic 20 may include an auxiliary pipe connected to the exhaust of each valve 27. As a non-limiting variant, the valve may be a 4 / 2 valve or a set of 2 / 2 valves.

[0074] Particularly advantageously, in the method as described above, the pneumatic gripping system 10 comprises a single vacuum sensor 28 between the vacuum source 26 and the plurality of valves 27. Alternatively, the pneumatic gripping system may comprise at least two vacuum sensors 28 adapted to measure a vacuum level in the pneumatic circuit 20 between the vacuum source 26 and the plurality of valves 27. This provides a redundant system in the event of failure of one of the sensors, for example. Preferably, the pneumatic gripping system may comprise at least three vacuum sensors 28 adapted to measure a vacuum level in the pneumatic circuit 20 between the vacuum source 26 and the plurality of valves 27. This makes it possible to identify an erroneous measurement from one of the sensors.

[0075] Furthermore, the pneumatic gripping system 10 may comprise one or more gripping members 13 additional to said plurality of gripping members 13, said one or more additional gripping members 13 not being required for gripping the object 100. Also, the pneumatic gripping system may comprise one or more valves 27 additional to said plurality of valves 27. In other words, the pneumatic gripping system may comprise in total I gripping members 13 and J valves 27, 1 and J being whole numbers respectively greater than i and j.

[0076] The vacuum source may be a mechanical motorized vacuum pump or a venturi vacuum generator.

[0077] One or more, or even all, of the gripping members 13 may comprise a suction cup. In the case of a suction cup, it is understood that a leak may occur when the mouth or side skirt of the suction cup is not in contact with the object to be gripped over its entire circumference. Such a lack of contact may result from poor positioning of the suction cup, the dimensions of the object, an uneven surface condition of the object, or a damaged suction cup.

[0078] According to another aspect, a computer program may be provided comprising instructions for implementing the method P as described above.

[0079] According to another aspect, a recording medium readable by a computer may be provided on which a program is recorded for implementing the method P as described above when this program is executed by a processor.

[0080] Finally, at least one control unit may be provided for executing the method P as described above.

[0081] Several scenarios for implementing the control method as described above are now described with reference to Figures 8 to 11. Figures 8 to 11 show: respectively take a graph which illustrates the evolution of the vacuum level as measured by the vacuum sensor 28 during the process and the position of three valves 27 during the process, in this case the position of a kth valve 27, (k+1)th valve 27 and a (k+2)th valve 27. In each of the scenarios, each of the kth, (k+1)th, (k+2)th valves 27 can be switched individually during a respective iteration of rank k, k+1 and k+2. According to a particular case, the integer n can be equal to 3 so that the pneumatic gripper system 10 comprises a first valve 27, a second valve 27 and a third valve 27 coinciding with respectively the kth valve 27, the (k+1)th valve 27 and the (k+2)th valves 27, and switched individually respectively during an iteration of rank 1, an iteration of rank 2 and an iteration of rank 3 of the iterative sequence / K / .

[0082] In each of the scenarios of Figures 8 to 11, the method is initially considered in a state where steps / A / and / B / have been carried out.

[0083] In each of the scenarios of figures 8 to 11, the performance of step / C / is represented, which results in an increase in the vacuum level from 0% to the reference vacuum level Nr. In each of the scenarios of figures 8 to 11, the performance of step / D / is represented, during which the reference vacuum level Nr is measured by said at least one vacuum sensor 28.

[0084] First, reference is made to the scenario of [Fig.8]. The initial reference vacuum level Nr measured during step / D / is higher than the threshold vacuum level Ns. In this case, the iterative sequence / K7 is advantageously omitted in order to reduce the time taken to carry out the vacuum control method P. Thus, as seen in [Fig.8], each of the valves 27 remains in the respective closed position.

[0085] Reference is now made to the scenario of [Fig.9]. The initial reference vacuum level Nr measured during step / D / is lower than the threshold vacuum level Ns. The iterative sequence / K7 is then initiated: - An iteration of rank k is carried out during which the kth valve 27 is switched into the respective open position. The kth vacuum level N(k) is here equal to the reference vacuum level Nr. It is deduced that none of said one or more corresponding gripping members 13 associated with said at least one kth valve 27 has a leak. Also, the kth valve 27 is switched into the respective closed position; - An iteration of rank k+1 is carried out during which the (k+l)th valve 27 is switched into the respective open position. The (k+l)th vacuum level N(k+1) is here equal to the reference vacuum level Nr. It is deduced that none of said one or more corresponding gripping members 13 associated with said at least one (k+l)th valve 27 has a leak. Also, the (k+l)th valve 27 is switched into the respective closed position; - An iteration of rank k+2 is carried out during which the (k+2)th valve 27 is switched into the respective open position. The (k+2)th vacuum level (N(k+2)) is here higher than the reference vacuum level Nr. The increase in the (k+2)th vacuum level (N(k+2)) relative to the reference vacuum level Nr is due to the removal of a leak source from the pneumatic circuit 20. It is deduced that at least one of said one or more corresponding gripping members 13 associated with said at least one kth valve 27 has a leak. In the illustrated example, the (k+2)th valve 27 is maintained in the respective open position. In other words, the iteration of rank k+2 is completed without the (k+2)th valve 27 being switched into the respective closed position. Finally, according to the illustrated scenario, the (k+2)th vacuum level (N(k+2)) is greater than the threshold vacuum level.The iterative sequence is then interrupted either because it is deduced that none of the corresponding gripping members 13 associated with a valve 27 other than the kth, (k+1)th, (k+2)th valves 27 has a leak, or because it is deduced that the vacuum level reached is sufficient to allow the gripping of the object 100 by the pneumatic gripping system 10.

[0086] Reference is now made to the scenario of [Fig. 10]. The scenario of [Fig. 10] differs from the scenario of [Fig.9] in that the kth vacuum level N(k) is here higher than the reference vacuum level Nr. It is deduced that at least one of said one or more corresponding gripping members 13 associated with said at least one kth valve 27 has a leak. Subsequently, the reference vacuum level Nr is updated to coincide with the kth vacuum level N(k). In other words, an updated reference vacuum level Nr' corresponding to the kth vacuum level N(k) is defined. Remarkably, in the illustrated example, the iteration of rank k is completed without the kth valve 27 being switched into the respective closed position and the kth valve 27 is maintained in the respective open position during the following iterations k+1 and k+2. The iterations of rank k+1 and k+2 are identical to the scenario in [Fig.9].

[0087] In the scenario of [Fig.l 1], each of the kth and (k+2)th valves 27 are associated with at least one corresponding gripping member 13 which has a leak, for example a corresponding gripping member 13 poorly positioned on the object.

[0088] Reference is now made to the scenario of [Fig.l 1]. The scenario of [Fig. 11] differs from the scenario of [Fig. 10] in that the (k+l)th vacuum level N(k+1) is here higher than the reference vacuum level Nr, in this case the updated reference vacuum level Nr'. It is deduced that at least one of said one or more corresponding gripping members 13 associated with said at least one (k+1)th valve 27 has a leak. Subsequently, the reference vacuum level Nr is again updated to coincide with the (k+l)th vacuum level N(k+1). In other words, an updated reference vacuum level Nr” is defined corresponding to the (k+l)th vacuum level N(k+1). In the illustrated example, the iteration of rank k+1 is completed without the (k+1)th valve 27 is switched to the respective closed position and the (k+1)th valve 27 is kept in the respective open position during the following iteration k+2.

[0089] In the scenario of [Fig.11], each of the kth, (k+1)th, (k+2)th valves 27 are associated with at least one corresponding gripping member 13 which has a leak, for example a corresponding gripping member 13 poorly positioned on the object.

[0090] Finally, remarkably, the (k+2)th vacuum level N(k+2) is lower than the threshold vacuum level. The iterative sequence / K7 can be repeated according to a new iteration if the rank k+2 is lower than the integer n is not reached, for example if certain valves 27 have not been checked by being the subject of an iteration of the iterative sequence / K / . On the other hand, if the rank k+2 is equal to the integer n then the iterative sequence is interrupted. In this case, it can for example be deduced that the final vacuum level corresponding to the (k+2)th vacuum level N(k+2) does not allow the gripping of the object 100. Also, the plurality of gripping members 13 can be positioned again on the object 100 at a different location and the control method can be repeated.

Claims

Claims

1. A method (P) of vacuum control for a pneumatic gripping system (10) which comprises a vacuum source (26), a plurality of gripping members (13) and a pneumatic circuit (20) configured to fluidly connect the plurality of gripping members (13) with the vacuum source (26), the pneumatic circuit (20) comprising a plurality of valves (27), each valve (27) being associated with a corresponding set of gripping members comprising one or more gripping members (13) from among the plurality of gripping members (13), each valve (27) being configured to switch between a closed position (F) in which said valve (27) fluidly connects said corresponding set of gripping members (13) with the vacuum source (26) and an open position (O) in which said valve (27) fluidly connects said set of gripping members (13) corresponding with the atmosphere,the pneumatic gripping system (10) further comprising at least one vacuum sensor (28) adapted to measure a vacuum level in the pneumatic circuit (20) between the vacuum source (26) and the plurality of valves (27), the method (P) comprising:, - / A / activating the vacuum source (26) in order to establish a depression between the plurality of gripping members (13) and the object (100), - / B / switching the plurality of valves (27) into their respective closed position (F), - / C / the positioning of the plurality of gripping members (13) on an object (100) to be grasped, - / D / the measurement of a reference vacuum level (Nr) by said vacuum sensor (28), the method (P) comprising the following sequence / K7: - / Ka / switching into the open position (O) at least one valve (27) among the plurality of valves (27), - / Kb / the measurement of a vacuum level (N(k)) by said vacuum sensor (28), - / Kc / the comparison of the measured vacuum level (N(k)) with the reference vacuum level (Nr), - / Kd / determining that at least one of the gripping members (13) of the set of gripping members corresponding to said at at least one valve (27) has a leak in the case where the measured vacuum level (N(k)) is higher than the reference vacuum level (Nr).

2. Method (P) according to claim 1, in which the sequence / K7 comprises a step / Kd7 of switching said at least one valve (27) into the closed position (F) in the case where the measured vacuum level (N(k)) is equal to the reference vacuum level (Nr).

3. Method (P) according to any one of the preceding claims, in which step / D / comprises a subsidiary step which comprises: - comparing the reference vacuum level (Nr) with a threshold vacuum level (Ns), the threshold vacuum level (Ns) being determined to correspond to a vacuum level sufficient to allow the gripping of the object (100), and - determining that the plurality of gripping members (13) is capable of gripping the object if the reference vacuum level (Nr) is greater than or equal to the threshold vacuum level (Ns).

4. Method (P) according to claim 3, in which the sequence / K7 is not carried out when the reference vacuum level (Nr) is greater than or equal to the threshold vacuum level (Ns).

5. Method (P) according to any one of the preceding claims, wherein step / Ka / comprises switching into the respective open position (0) a single valve (27) among the plurality of valves (27).

6. A method according to any one of claims 1 to 5, wherein the sequence / K7 is repeated with at least one other valve (27) among the plurality of valves.

7. A method according to claim 1 to 6, wherein the sequence / K7 is repeated with each valve (27) among the plurality of valves.

8. Method (P) according to claim 3, in which the sequence / K7 comprises a step / Ke / directly or indirectly following the step / Kd / and which comprises: - comparing the vacuum level (N(k)) measured during the step / Kc / with the threshold vacuum level (Ns) and - determining that the gripping members (13) of the sets of gripping members corresponding to the valves in their closed position (F) are capable of gripping the object if the measured reference vacuum level (N(k)) is greater than or equal to the threshold level Ns.

9. The method of claim 3, wherein the sequence / K7 is repeated with at least one other valve (27) among the plurality of valves, the re- iteration of the sequence ÏKJ being interrupted when the vacuum level N(k) measured at step / Kc / is greater than or equal to the threshold vacuum level (Ns).

10. Method (P) according to any one of claims 1 to 9, in which the sequence / K7 comprises a step / Kf / directly or indirectly following the step / Kd / and which comprises updating the reference vacuum level (Nr) to coincide with the vacuum level (N(k)).

11. Method (P) according to any one of claims 1 to 10, wherein the sequence / K7 comprises a step / Kh / directly or indirectly following the step / Kd / and which comprises switching said at least one valve (27) among the plurality of valves (27) into the closed position (F).

12. Method (P) according to the preceding claim, which comprises a step / E / consecutive to the iterative sequence / K7 and which comprises switching into the open position (0) each of the valves (27) among the plurality of valves (27) which have been identified as being associated with a set of corresponding gripping members (13) exhibiting a leak.

13. A method (P) according to any one of claims 1 to 12 wherein the pneumatic gripper system (10) comprises a single vacuum sensor (28) between the vacuum source (26) and the plurality of valves (27).

14. Computer program comprising instructions for implementing the method (P) according to any one of the preceding claims.

15. Computer-readable recording medium on which is recorded a program for implementing the method (P) according to any one of claims 1 to 13 when this program is executed by a processor.

16. A pneumatic gripping system (10) which comprises a vacuum source (26), a plurality of gripping members (13) and a pneumatic circuit (20) configured to fluidly connect the plurality of gripping members (13) with the vacuum source (26), the pneumatic circuit (20) comprising a plurality of valves (27), each valve (27) being associated with a set of one or more gripping members (13) corresponding among the plurality of gripping members (13), said valve (27) being configured to switch between a closed position (F) in which said valve (27) engages the plurality of gripping members (13) and a closed position (F) in which said valve (27) engages the plurality of gripping members (13) and a pneumatic circuit (20) configured to fluidly connect the plurality of gripping members (13) with the vacuum source (26), the pneumatic circuit (20) comprising a plurality of valves (27), each valve (27) being associated with a set of one or more gripping members (13) corresponding among the plurality of gripping members (13), said valve (27) being configured to switch between ... fluid communication said set of one or more gripping members (13) corresponding with the vacuum source (26) and an open position (O) in which said valve (27) puts said set of one or more gripping members (13) corresponding in fluid communication with the atmosphere, the pneumatic gripping system (10) further comprising at least one vacuum sensor (28) adapted to measure a vacuum level in the pneumatic circuit (20) between the vacuum source (26) and the plurality of valves (27), and at least one control unit for carrying out the method (P) according to any one of claims 1 to 13.

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