Method for operating a handling system, computer program product and handling system

Abstract

To provide a gripper for operating individual suction points independently of each other so that an object can be sucked by using many or less suction points.SOLUTION: A method for operating a handling system (10) comprising a vacuum gripper (18) having a plurality of individually actuatable suction points (24), a manipulator (20) for moving the vacuum gripper (18), and a control device (42), the method comprising: Receiving or determining a grasped object data set representing a location of a pickup area (14), a weight and a geometry of each grasped object (12), generating a grasping control signal based on the grasping strategy data set that causes a handling system to sequentially adhere the grasped objects while being respectively assigned to at least one suction point, and generating a manipulator control signal that causes a vacuum gripper to move to a deposition area with the grasped objects adhered to the manipulator.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a method for operating a handling system comprising a vacuum gripper and a manipulator for moving the vacuum gripper.The present invention also relates to such a handling system. [Background technology]

[0002] Handling systems with vacuum grippers are known in various ways from the state of the art. Different types of vacuum grippers are used. For example, so-called area vacuum grippers with multiple suction points are known. Such area vacuum grippers are used, among other things, to handle stacked rigid and / or flexible workpieces. An advantageous further development of such area vacuum grippers provides that the individual suction points can be activated independently of one another, so that objects can be picked up using more or fewer suction points as required.

[0003] A typical application of such handling systems is the transport of workpieces between two processing stations in a production environment, where the workpieces are usually individually picked up and transported one after the other to their destination. Summary of the Invention

[0004] The present invention addresses the problem of improving the transfer of picked objects from a deposition area to a pick-up area using a handling system.

[0005] This object is achieved according to the invention by a method having the features of claim 1. The method is a method, in particular a computer-implemented method, for operating, in particular for controlling, a handling system, designed to cause the handling system to transport a plurality of gripped objects together from a pick-up area, in which the gripped objects are arranged in particular adjacent to one another, to a deposition area. The method is designed to cause the handling system to transport a plurality of gripped objects together from a pick-up area, in which the gripped objects are arranged in particular adjacent to one another or one above the other, to a deposition area.

[0006] The handling system comprises a vacuum gripper for suctioning the object to be gripped, which has, in particular on one suction side, a number of suction points that can be activated and deactivated individually, i.e. independently of one another.

[0007] The handling system also comprises a manipulator, in particular a robot, for moving the vacuum gripper, which can be coupled to the manipulator via a coupling device.

[0008] In particular, the handling system also comprises a control device for controlling the handling system, in particular the control device comprises a non-volatile memory device, in particular the control device comprises a data processing system.

[0009] According to the method, a held object data set is first received or determined and stored, in particular in a non-volatile memory device. In this regard, in particular, the held object data set is provided in a non-volatile memory device, for example in a non-volatile memory device of a control device of the handling system. Determining the held object data set may comprise receiving held object information via a human-machine interface of the handling system. Determining the held object data set may also comprise analyzing image data of the held object.

[0010] In particular, the grasped object dataset includes position data for each grasped object, the position data representing the position of the grasped object in the pickup area. In particular, the grasped object dataset also includes weight data representing the weight of the grasped object. In particular, the grasped object dataset also includes geometric shape data representing the geometric shape of each grasped object.

[0011] According to the method, a gripping strategy data set is determined as a function of the object data set, and the object is gripped by the vacuum gripper based on the gripping strategy data set, in particular, the gripping strategy data set indicates which suction points of the vacuum gripper are used to grip which object, in particular in which order.

[0012] The gripping strategy data set includes assignment data that uniquely assigns at least one suction point of the vacuum gripper to each gripped object, determining which one or more suction points each gripped object should be gripped at.

[0013] According to the method, a gripping control signal is generated based on the gripping strategy data set, and the gripping control signal causes the handling system to pick up the gripped objects one after the other, each with at least one suction point assigned to it, until the gripped objects are held together in the vacuum gripper. In this respect, the gripped objects are picked up one after the other, with at least one suction point assigned to them, until the gripped objects are held together in the vacuum gripper. The gripping control signal includes, in particular, control instructions for the manipulator and control instructions for the vacuum gripper.

[0014] In a further step, a manipulator control signal is then generated which causes the handling system, in particular the manipulator, to move the vacuum gripper with the plurality of objects attached from the pick-up area to the deposition area.

[0015] In particular, the method also includes generating a control signal that causes the handling system, in particular the vacuum gripper, to deposit the objects in the deposition area. It is conceivable that all gripped objects are deposited simultaneously. In this regard, the control signal can cause the vacuum gripper to deactivate the suction points that were activated first together, in particular simultaneously. The gripped objects can also be deposited sequentially, i.e., one after the other. In this way, the control signal can cause the vacuum gripper to deactivate only the suction points assigned to a particular gripped object at a given time.

[0016] The proposed method allows for the automated transfer of multiple objects of different sizes and shapes between two positions in a particularly time- and energy-efficient manner. Since the objects are not all picked up at the same time but one after the other, it is possible to change the arrangement of the objects in the vacuum gripper compared to their arrangement in the pickup area. This allows for the objects to be arranged in a particularly advantageous configuration in the vacuum gripper, for example, so that as many objects as possible can be transferred at once, or so that a certain minimum distance between certain objects is maintained.

[0017] In this context, the term "gripped object" refers to an object that is actually intended to be gripped by the vacuum gripper. This does not exclude the possibility that other objects may be present in the pick-up area that are not intended to be gripped (e.g., carriers for the gripped object, dirt, process residues, etc.) and therefore do not constitute a "gripped object."

[0018] The proposed method is suitable for gripping objects of different properties, in particular different shapes and sizes, and in particular for handling flat materials, preferably sheet metal.

[0019] In the present context, the term "geometry" does not necessarily mean a detailed description of the entire outer shape of the grasped object. Preferably, however, the "geometry" describes at least the outer shape (or silhouette and outer contour) of the grasped object when viewed from above. In particular, the "geometry" or geometric shape data may also include information about the edges of the grasped object and / or local recesses of the grasped object, particularly in the area defined by the contour.

[0020] In this context, a "dataset" may include one or more sub-datasets.

[0021] In this context, the term "activating" an attraction point means moving the attraction point to an active configuration in which the attraction point is ready to attract an object. In particular, activating includes releasing the vacuum supply to the attraction point. Activating may also include translational and / or rotational movement of the attraction point (individually or as part of a group of attraction points). Movement of the attraction point may result in the release of the vacuum supply. However, it is also conceivable that the movement is independent of the release of the vacuum supply. For example, a vacuum may be permanently applied to the attraction point, but the attraction point may only be moved to an active configuration by translational and / or rotational movement in which the attraction point is ready to attract an object (i.e., activated).

[0022] In this context, the term "deactivating" an attraction point means transitioning the attraction point (from an active configuration) to a passive configuration in which the attraction point is (no longer) ready to attract an object. In particular, deactivating includes cutting off the vacuum supply to the attraction point. Deactivating may include translational and / or rotational movement of the attraction point (individually or as part of a group of attraction points). The movement may result in the vacuum supply being cut off. However, it is also conceivable that the movement is independent of the vacuum supply being cut off.

[0023] Vacuum grippers can be designed in different ways. In an advantageous embodiment, the vacuum gripper comprises a gripper base and a plurality of suction units arranged thereon, each providing a suction point. In particular, each suction unit has a lift piston and at least one suction cup movably coupled to the lift piston. The lift piston is preferably adjustable along a lift axis relative to the gripper base between an axially retracted passive configuration and an axially extended active configuration. The suction units are preferably designed so that the vacuum supply to the suction cups is blocked in the passive configuration and opened in the active configuration. For example, the vacuum gripper can have a vacuum connection for connection to an external vacuum supply, and a blocking device is provided that blocks the flow connection between the vacuum connection and the at least one suction cup in the passive configuration of the lift piston and opens this flow connection in the active configuration. Such an embodiment with extendable suction units is particularly advantageous because the inactive suction points do not form any interference contours during gripping due to their retracted configuration.

[0024] The manipulator may be designed in different ways: In an advantageous embodiment, the manipulator may be designed as a robot, in particular a six-axis robot.

[0025] The pick-up area may be, for example, the output area of ​​a processing machine. The deposition area may be, for example, the storage or infeed area of ​​another processing machine.

[0026] Preferably, determining the grasping strategy data set, in particular the assignment data, determines for each grasped object the minimum number n of attraction points required to grasp the grasped object. req This involves determining the number of adsorption sites, n req is determined as a function of the weight of the object. In particular, the number n req is the adsorption point n req The cumulative attraction force is determined as the number of attraction points where the cumulative attraction force is greater than the weight of the object.

[0027] According to an advantageous further development of the method, the number of adsorption sites required n req can also be determined under one or more further boundary conditions. In particular, the number of adsorption sites required, n req can be determined as a function of the expected acceleration forces when handling the grasped object. For example, the number n req is the adsorption point n req The cumulative attraction force can be determined as the number of attraction points where the cumulative attraction force is greater than the sum of the weight of the grasped object and the expected acceleration force.

[0028] Alternatively or additionally, the number of adsorption sites required, n req can be determined as a function of the material of the object. For example, the porosity of the material of the object can be determined by the n req The number of the material components can be taken into account as a boundary condition when determining the number of the material components. In this regard, for example, the method can include receiving material information via a human-machine interface of the handling system. The method can also include determining the material of the object by, for example, analyzing image data of the object.

[0029] The determination of the gripping strategy data set, in particular the allocation data, is also preferably performed by selecting at least n of the gripping points from a plurality of gripping points. req n corresponding numbers out The attraction points are selected depending on the geometric data of the object to be grasped and on the geometric data of other objects, in particular on at least a subset of all other objects.

[0030] As mentioned above, the proposed method allows the gripped object to be held in an advantageous configuration by the vacuum gripper. In a particularly advantageous further development, the selection of suction points (or the allocation of suction points to individual gripped objects) can be performed, for example, so that the gripped object is held in the vacuum gripper in a torque-balanced manner after suction or gripping. In this respect, the selection of suction points can be performed under the boundary condition that the gripped object is held in the vacuum gripper in a torque-balanced manner after gripping. In this context, "torque-balanced" means in particular that when the gripped object is attached to the vacuum gripper, no rotational or tilting torque is exerted around an axis extending parallel to the suction side as a result of the weight of the gripped object, or that such rotational or tilting torque does not exceed a specified threshold.

[0031] Alternatively or additionally, the suction points can be selected such that at least a subset of the gripped objects, in particular all of the gripped objects, are held in the vacuum gripper without overlapping, i.e., do not overlap, after suction or gripping, In this respect, the suction points can be selected such that the gripped objects are held adjacent to one another in the vacuum gripper after suction.

[0032] The selection of the attraction points can also be performed in such a way that at least a subset of the gripped objects, in particular all of the gripped objects, are held by the gripper at a predetermined safety distance after attraction, which can be advantageous, for example, to avoid interactions between the gripped objects.

[0033] The suction points can also be selected such that after suction, at least a subset of the gripped objects are held in the vacuum gripper on top of one another, i.e., so that at least a subset of the gripped objects cover one another, which can be advantageous, for example, if a high gripping performance (high packing density of the vacuum gripper) is desired.

[0034] Furthermore, it has proven advantageous if the selection of the suction points is determined as a function of the relative positions of the gripped objects in the pickup area. For example, the selection of the suction points can be determined under the boundary condition that adjacent gripped objects in the pickup area are preferably assigned to adjacent suction points in the vacuum gripper. In this way, the suction process can be designed to be particularly time- and energy-efficient, since no or only small movements of the manipulator are required, especially between the pickup of two adjacent gripped objects.

[0035] It has further been found to be advantageous if determining the gripping strategy data set, in particular selecting the suction points, comprises determining the positions and / or orientations of the suction points of the gripped object. Determining the positions and / or orientations is preferably performed as a function of the geometry of the gripped object, in particular the geometry of at least a subset of the other gripped objects. Preferably, gripping control signals are then determined such that the suction points are located on the gripped object at the determined positions and / or orientations. The gripping control signals are preferably designed to cause the manipulator to move the vacuum gripper to each gripped object such that at least one suction point assigned to the gripped object contacts the gripped object at the determined position and in the determined orientation relative to the gripped object.

[0036] In an advantageous further development, the grasping strategy data set can also describe a grasping sequence in which the grasped object is attracted. The grasping of the grasped object, i.e. the attraction assigned to each at least one attraction point, is then carried out in particular according to the grasping sequence. In this respect, determining the grasping strategy data set can also include determining the grasping sequence.

[0037] Preferably, the gripping sequence is determined as a function of the height position of each of the objects in the pickup area. The gripping sequence can be determined such that higher objects are gripped earlier. In this way, the risk of collisions during pickup of the objects can be reduced. The gripping sequence can be determined such that lower objects are gripped earlier.

[0038] In this context, "height position" refers to the position of the suction surface of the object to be gripped along the vertical direction (z-axis). The term "suction surface" refers to the outer surface to which the object to be gripped is gripped. Different height positions can result, for example, from different thicknesses of the object to be gripped. In this regard, the gripping sequence can be determined depending on the thickness of the object to be gripped. For example, the geometric shape data may include information about the thickness of the object to be gripped. Different height positions can also result from an irregular surface of the pickup area. Different height positions can also result from the stack height of the objects.

[0039] In an advantageous further development, determining the grasping strategy data set, in particular selecting the attraction points, is performed so that a second object picked up after the first object at least partially covers the first object. In this respect, the first and second objects can at least partially overlap. In this respect, the second object can form a support object for the first object. This can, for example, enable higher manipulator acceleration (which has a positive effect on grasping efficiency) while ensuring safe grasping. For example, it is conceivable that the pickup area is provided with several relatively small objects and at least one relatively large object. In such an initial situation, it can be advantageous to determine the grasping strategy data set, in particular the grasping sequence, so that one or more or all of the small objects are picked up first, and then the large object is picked up so as to cover at least a subset of the picked small objects.

[0040] It may also be advantageous if the dynamics of the manipulator, in particular the maximum acceleration of the manipulator, are specified. In particular, the grasping control signals, in particular the manipulator control signals, define the acceleration of the manipulator after grasping the respective grasped object.

[0041] In the above-described embodiment in which the second object, which is picked up after the first object, at least partially covers the first object, it may be particularly advantageous if the control signal, in particular the gripping control signal, is determined such that the acceleration is greater after gripping the second object than after gripping the first object, in which case the control signal, in particular the gripping control signal, is determined such that the first object is lifted with lower manipulator dynamics, in particular lower manipulator acceleration, than the second object.

[0042] In an advantageous further development, the handling system can include a plurality of different vacuum grippers, in particular differing in the number and / or arrangement of suction points. The gripping strategy data set can then also represent one vacuum gripper among the plurality of vacuum grippers preferred for gripping the object to be gripped. Determining the preferred vacuum gripper can be performed in particular depending on the gripping object data set. The method can then in particular include generating a vacuum gripper coupling control signal based on the gripping strategy data set, which vacuum gripper coupling control signal causes the handling system to couple the preferred vacuum gripper to the manipulator. In particular, several different vacuum grippers can be exchanged.

[0043] It is also conceivable that one or more object data sets are provided to a memory device, in particular, that an evaluation algorithm is loaded into the memory device and stored in the memory device, which determines a preferred vacuum gripper or vacuum gripper constellation depending on the provided object data sets. This functionality can also be used to design vacuum grippers during the design phase, thereby reducing the number of grippers required. It is also possible to determine how many objects can be gripped before the object is presented to the handling system for manipulation.

[0044] The handling system can have one or more operating modes. In an advantageous further development, the handling system can have a high-performance operating mode. The high-performance operating mode can be optimized for a particularly high gripping (picking) performance, in particular for object throughput (grabbed objects / time). This can be achieved, for example, by allowing high manipulator acceleration in the high-performance operating mode, reducing the number of suction points used per gripped object (allowing more objects to be held in the vacuum gripper simultaneously), and / or allowing overlapping or intersecting gripped objects.

[0045] In an exemplary embodiment, in a high performance mode of operation, determining the grasp strategy data set includes determining the minimum number n of grasps required for the grasped object. req In particular, the minimum number of suction points required for grasping, n req This allows many objects to be held in the vacuum gripper at the same time, improving picking performance.

[0046] Alternatively or additionally, in the high-performance operating mode, the determination of the grasping strategy data set, in particular the selection of the gripping points, can be performed so that a second gripping object picked up after a first gripping object at least partially covers the first gripping object. In this respect, overlapping / intersecting objects can be allowed, which has a positive effect on the packing density and thus on the gripping performance. In this regard, it can be advantageous if the gripping control signals are determined such that the acceleration of the manipulator after gripping the second gripping object is greater than after gripping the first gripping object.

[0047] Preferably, in the high performance mode of operation, the grasped object is handled with relatively high manipulator accelerations, especially during pickup or pick-up, as well as during joint movement from the pick-up position to the deposit position.

[0048] Alternatively or additionally, the handling system may have a safe operating mode, in particular the safe operating mode is optimized to ensure that the grasped object is securely grasped, e.g. grasping errors are minimized.

[0049] In an exemplary implementation of the safe operating mode, determining the gripping strategy data set, in particular selecting the gripping points, can be performed in particular depending on the geometry data, and in particular gripped objects are gripped in such a way that the gripped objects (after all gripped objects have been gripped) are held adjacent to each other in the vacuum gripper, i.e., without overlapping. In this way, interactions between the gripped objects can be reduced. For example, a gripping error of a gripped object does not affect other gripped objects.

[0050] Alternatively or additionally, in the safe operating mode, determining the gripping strategy data set, in particular selecting the suction points, may also include determining the position and / or orientation of at least one suction point assigned to the gripping object. The position and / or orientation is preferably determined as a function of the geometry or the geometry data set of the respective gripping object, such that the edge of the gripping object is located between the suction points. In this way, gripping errors can be avoided, for example, due to improper sealing of the suction points. In this context, "edge" refers to both the outer edge and the inner edge (e.g., resulting from a recess in the gripping object).

[0051] Alternatively or additionally, in the safe operating mode, determining the gripping strategy data set includes determining a minimum number n of gripping points required for the gripping object to grip. req In this respect, the minimum number of suction points required for grasping, n req More than one can be selected for each grasped object.

[0052] Preferably, in the safe operating mode, the grasped object is handled with relatively low manipulator accelerations, especially during pickup or pick-up, as well as during joint movement from the pick-up position to the deposit position.

[0053] In particular, the control signals, in particular the gripping control signals and / or the manipulator control signals, can define a maximum acceleration of the manipulator when handling a gripped object. Preferably, this maximum acceleration of the manipulator, in particular when transferring a gripped object from the pick-up area to the deposition area, is greater in the high-performance operating mode than in the safe operating mode.

[0054] Alternatively or additionally, the handling system may have a suction cup protection mode of operation, which is optimized to protect the vacuum gripper, in particular the suction points (e.g. suction bodies) as much as possible, in particular to reduce wear.

[0055] In an exemplary embodiment of the suction cup protection operating mode, determining the gripping strategy data set, in particular selecting the suction points, may also include determining the position and / or orientation of at least one suction point assigned to this gripping object. The position and / or orientation is preferably determined as a function of the geometry or the geometry data set of the respective gripping object, such that the edges of the gripping object are located between the suction points. In this way, gripping errors can be avoided, for example, due to improperly sealed suction points. In this context, "edge" refers to both the outer edge and the inner edge (e.g., resulting from a recess in the gripping object).

[0056] Alternatively or additionally, in the suction cup protection mode of operation, determining the gripping strategy data set includes determining a minimum number n of gripping points required to grip the object. req At this point, the minimum number of suction points required for grasping is n req Only one of these can be selected for each grasped object.

[0057] Alternatively or additionally, the handling system may have a gripped object protection mode. In particular, the gripped object protection operating mode can be optimized to ensure that the gripped object is handled particularly gently during gripping.

[0058] In an exemplary implementation of the gripped object protection mode, determining the gripping strategy data set, in particular selecting the suction points, can be performed in such a way that two adjacent gripped objects are kept within a specified safety distance of the gripper, or at least do not overlap.

[0059] It is conceivable that the handling system has only one of the above-mentioned operating modes. It is conceivable that the handling system has several, or preferably all, of the above-mentioned operating modes. In that case, it may be advantageous if the method includes selecting one of the operating modes before determining the gripping strategy data set. The selection of the operating mode may include receiving the operating mode information via a human-machine interface of the handling system. In this regard, an operator can select the operating mode. It is also conceivable that the operating mode is selected automatically, for example, depending on the geometry data set. For example, it is conceivable that an algorithm, in particular an AI-supported algorithm, is stored in a non-volatile memory device of the control device, and this algorithm is trained to select one of the above-mentioned operating modes depending on the number, position, and geometry of the objects to be gripped present in the pickup area.

[0060] The various operating modes can be stored in respective operating mode data sets in a non-volatile memory device of the control device. In this regard, selecting one of the operating modes can include retrieving the corresponding operating mode data set. In particular, the operating mode data set can include the aforementioned boundary conditions for determining the grasping strategy data set.

[0061] Preferably, the adsorption of the grasped object is performed by: a) activating at least one suction point assigned to a first grasped object; b) moving the vacuum gripper toward the gripped object; c) attracting the object by at least one activated attraction point; d) repeating steps a) to c) for other gripped objects, in particular according to the previously determined gripping sequence, until all gripped objects have been attracted to the vacuum gripper.

[0062] At this point, control signals are generated to cause the vacuum gripper and manipulator to perform the steps described above.

[0063] The actuation of the suction point (e.g., extension of the lift piston) can be performed while the vacuum gripper is moving towards the gripped object, in which respect steps a) and b) can be performed in parallel.

[0064] After picking up a first object and before picking up a further object, the vacuum gripper moves through space. Preferably, after picking up the first object and before picking up the further object, the vacuum gripper lifts the first object. In this respect, when moving towards the further object, the first object also moves.

[0065] In an advantageous further development, determining the grasped object dataset may comprise analyzing image data representative of an image of the grasped object. The analysis is preferably performed using commonly known image processing methods. In particular, the method may comprise receiving image data, storing such image data in a non-volatile memory device, and subsequently analyzing such image data, in particular by means of image processing methods.

[0066] In particular, the position and geometry of each grasped object are determined from the image data by image processing methods.

[0067] Preferably, the weight of each grasped object is also determined from the image data. In particular, determining the weight or weight data of the grasped object may include determining the volume of this grasped object (grasped object volume). For this purpose, the image data can be analyzed, for example, by a workpiece division method. The weight of the grasped object can then be determined from the volume of the grasped object via the material of the grasped object, in particular its density. Such an embodiment can reduce the required user input, thereby facilitating operation and increasing flexibility.

[0068] The method may comprise receiving material data of the gripped object, for example via a human-machine interface of the handling system, the material data of the gripped object comprising information about the material of the gripped object, in particular the density of the material.

[0069] Preferably, however, the material of the grasped object is also determined automatically. In this regard, determining the weight of each grasped object may include determining the material of the grasped object. Determining the material of the grasped object preferably includes analyzing the image data with a machine learning algorithm trained to determine the material of the grasped object from image data representing the image of the grasped object. Such an embodiment further facilitates operation.

[0070] The weight of the object can then be determined from the determined volume of the object and the density of the material of the object. For this purpose, a database can be stored in a non-volatile memory device containing information on the densities of various materials, particularly commonly used materials. The machine learning algorithm can also directly output the density of the material.

[0071] Receiving the image data may comprise reading the image data. Preferably, however, the handling system also has an acquisition device, in particular a camera, for capturing images of the grasped object in the pick-up area. Receiving the image data may then comprise generating control signals that cause the acquisition device to capture at least one image of the grasped object and store the at least one image in the form of image data in a non-volatile memory device, for example a non-volatile memory device of a control device of the handling system.

[0072] The handling system may have a sensor device for monitoring the gripping state. In particular, the sensor device may be configured to detect whether the object to be gripped has actually been gripped or whether it has not been reliably gripped, for example due to a gripping error. The sensor device may, for example, comprise a pressure sensor for detecting the vacuum of a vacuum gripper. The pressure sensor may, for example, be arranged in the vacuum gripper or in a vacuum generating device of the handling system. Grip can also be monitored optically. For example, the sensor device may have a camera for monitoring the gripping state.

[0073] The method can be performed several times, for example, when there are more objects in the pickup area than can be transported at one time, or when objects are continuously provided to the pickup area (e.g., as a result of a workpiece machining process). Then, when performing the method again, experience gained from one or more previous cycles can be drawn upon. For example, the position and / or orientation of the suction point can be corrected if suction failed in a previous process cycle for a similar gripped object. In embodiments with a sensor device, for example, the gripping strategy data set for a method cycle can be determined as a function of the output signal of the sensor device in the previous method cycle.

[0074] The invention also relates to a computer program product comprising commands which, when the program is executed by a data processing system, in particular by a data processing system of a control device of a handling system, cause the data processing system to carry out the method according to any one of claims 1 to 12.

[0075] The invention also relates to a non-volatile memory medium on which a computer program product is stored.

[0076] The present invention also relates to a handling system for carrying out the above-mentioned method. The handling system comprises a vacuum gripper and a manipulator for moving the vacuum gripper. The vacuum gripper has a plurality of suction points on one suction side that can be activated and deactivated individually, i.e., independently of one another. The handling system also comprises a control device for controlling the handling system, in particular the vacuum gripper and / or the manipulator. The control device comprises a non-volatile memory device, in particular a data processing system. Control instructions are stored in the non-volatile memory device and, when executed, cause the handling system to carry out one of the above-mentioned methods. In particular, a computer program product is stored in the non-volatile memory device, the computer program product comprising commands that cause the program, when executed by the data processing system, to carry out one of the above-mentioned methods.

[0077] The vacuum gripper may be designed in different ways. For example, the vacuum gripper may be designed as an area vacuum gripper. In particular, the vacuum gripper has a plurality of suction units, each of which has a movable lift piston and at least one suction cup movably coupled to the lift piston. To avoid repetition, reference is made to the disclosure above.

[0078] In an advantageous further development, the handling system also comprises an acquisition device, in particular a camera, for capturing images of the grasped object in the pick-up area. In particular, the acquisition device can be controlled by the control device. The acquisition device can be arranged, for example, at a fixed position above the pick-up area. The acquisition device can also be kinematically coupled to the manipulator.

[0079] The invention is explained in more detail below with reference to the drawings. [Brief explanation of the drawings]

[0080] [Figure 1] FIG. 1 is a simplified schematic diagram of an exemplary embodiment of a handling system. [Figure 2] FIG. 2 is a diagrammatic representation of an exemplary embodiment of a vacuum gripper. [Figure 3] FIG. 3 is a simplified schematic diagram for illustrating an exemplary embodiment of a method for operating a handling system according to FIG. [Figure 4] FIG. 4 is a simplified schematic diagram illustrating an exemplary gripping configuration in a high performance mode of operation of the handling system. [Figure 5] FIG. 5 is a simplified schematic diagram illustrating an exemplary gripping configuration in a safe operating mode of the handling system. [Figure 6] FIG. 6 is a simplified schematic diagram illustrating an exemplary gripping configuration in a suction cup protection mode of the handling system. [Figure 7] FIG. 7 is a simplified schematic diagram illustrating an exemplary gripping configuration in a gripped object protection operational mode of the handling system. DETAILED DESCRIPTION OF THE INVENTION

[0081] 1 shows a simplified diagram of a handling system, generally designated by the reference numeral 10. The handling system 10 is designed to transfer a grasped object 12 from a pick-up area 14 to a deposition area 16, for example to transport workpieces, in particular sheet metal, between two processing stations.

[0082] The handling system 10 includes a vacuum gripper 18 and a manipulator 20 for moving the vacuum gripper 18 .

[0083] Preferably, the manipulator 20 is designed as a robot, in particular a six-axis robot.

[0084] The vacuum gripper 18 has a plurality of suction points 24 on the suction side 22 for suctioning the object 12. The suction points 24 are designed to be activated and deactivated independently of one another, so that the suction points 15 can be selectively shifted between an active configuration in which a suction airflow is provided to suction the object 12, and a passive configuration in which a suction airflow is not provided.

[0085] An exemplary implementation is described below with reference to FIG.

[0086] 2, the vacuum gripper 18 comprises a gripper base 26 and a plurality of suction units 28 disposed thereon. The suction units 28 can be supplied with vacuum via vacuum connections 30 and a vacuum distribution system integrated into the gripper base 26.

[0087] Each suction unit 28 has a lift piston 32 and a suction cup 34 movably coupled to the lift piston. The lift piston 32 is adjustable along a lift axis 36 between an axially retracted configuration and an axially extended configuration relative to the gripper base 26.

[0088] As mentioned above, the suction unit 28 is designed so that in the passive configuration the flow connection between the vacuum connection 30 and the suction cup is blocked, and in the active configuration this flow connection is open.

[0089] The lift pistons 32 can be pressurized with compressed air to transition the lift pistons 32 from a passive configuration to an active configuration (thus actuating the adsorption points 24). In particular, the gripper base 26 comprises a compressed air connection and an integrated compressed air distribution system for distributing compressed air to the adsorption units 28. The compressed air distribution system may in particular comprise valve devices for controlling the compressed air supply to the individual adsorption units 28.

[0090] The handling system also comprises an optional acquisition device 38 designed to capture images of the object 12 placed in the pick-up area 14. In this example, the acquisition device comprises a camera 40.

[0091] 1, the handling system also comprises a control device 42 for controlling the handling system 10. The control device 42 is exemplary for controlling the manipulator 20, the vacuum gripper 18 (in particular the compressed air valve device) as well as the acquisition device 38, if desired.

[0092] In particular, the control device 42 comprises a non-volatile memory device and a data processing device.

[0093] In the following, an exemplary method for operating such a handling system 10 will be described with reference to Figure 3. However, the method is not limited to the embodiment of the handling system 10 shown in Figure 1.

[0094] The method is useful for transporting a plurality of grasped objects 12 from a pickup area 14 to a deposition area 16 .

[0095] In a first step (block 100 in FIG. 3), images of the objects 12 placed (adjacent to each other) in the pickup area are first captured by the acquisition device 38 (not shown in further blocks for clarity). The images are stored in the form of image data in a non-volatile memory device and then analyzed.

[0096] In particular, the image data is analyzed by image analysis and workpiece segmentation methods (see above) to determine the position and location of the grasped objects 12 in the pickup area 14 and the outer contours (outlines) of each of the grasped objects 12.

[0097] Preferably, the weight of each of the grasped objects 12 is also determined from the image data. As mentioned above, for this purpose, the volume of each of the grasped objects can be determined from the image data by a workpiece division method. The weight can then be calculated from the volume using the material density of the grasped object. In particular, the material can also be determined from the image data, for example, by a machine learning algorithm trained to determine the material of the grasped object from image data describing the image of the grasped object.

[0098] Then, the above-mentioned object information (position, geometric shape, weight) of the object 12 is stored in a non-volatile memory device (object data set).

[0099] In a further step, a gripping strategy data set is determined as a function of the gripped object data set, and the gripping strategy data set uniquely assigns to each gripped object 12 a selection of suction points 24 of the vacuum gripper 18 so that the gripped objects 12 can be gripped adjacent to each other, in particular in a torque-balanced manner, and each has the number of suction points 24 required for reliable gripping.

[0100] Preferably, a grasping sequence in which the object 12 is grasped is also determined as a function of the grasped object data set.

[0101] The grasped objects 12 are then grasped one after the other. For this purpose, at least one suction point 24 assigned to the grasped object 12 is first activated (in this example, the lift piston 32 is transferred from the passive configuration to the active configuration), and then the grasped object 12 is attracted by this at least one suction point 24. This is visualized in block 102 of FIG. 3 for an intermediate grasped object 12.

[0102] Preferably, the object to be grasped 12 is first lifted (see block 104 in FIG. 3), and then other objects to be grasped 12 are grasped one after another in a similar manner (the assigned suction points 24 are activated, moved toward the object to be grasped 12, and adsorbed to the object to be grasped 12).

[0103] Once all of the grasped objects 12 have been attracted to the vacuum gripper 18 (see block 106 in Figure 3), the vacuum gripper 18 holding the grasped objects 12 is moved to the deposition area 16, and the grasped objects 12 are deposited therein (see block 108 in Figure 3).

[0104] As mentioned above, the handling system 10 may have different modes of operation. To illustrate the modes of operation, exemplary gripping configurations are described below with reference to Figures 4 to 6.

[0105] Figure 4 illustrates an exemplary gripping configuration in the high performance mode of operation of the handling system 10. Specifically, Figure 4 illustrates an exemplary case in which a larger gripped object 12-1 at least partially covers multiple underlying gripped objects 12-2, 12-3, 12-4, i.e., the gripped objects 12-1, 12-2, 12-3, 12-4 are held overlapping by the vacuum gripper 18.

[0106] The gripping of the objects 12-1, 12-2, 12-3, and 12-4 can be carried out in particular such that the lower gripping objects 12-2, 12-3, and 12-4 are first gripped one after the other (e.g., the first gripping object 12-3, then the gripping object 12-2, then the gripping object 12-4), and then the larger gripping object 12-1.

[0107] Preferably, when picking up the lower grasped objects 12-2, 12-3, 12-4, the maximum acceleration of the manipulator 20 is limited to facilitate secure holding of the (partially protruding) grasped objects 12-2, 12-3, 12-4. After picking up the grasped object 12-1, which can serve as a support for the underlying grasped objects 12-2, 12-3, 12-4, the maximum acceleration can be increased.

[0108] 5 illustrates an exemplary gripping configuration in a safe operating mode, in which the gripped object 12 is positioned such that there is no overlap of the objects and the edges 44 of the gripped object 12 (in this example, both the outer edge 46 and the inner edge 48, shown by way of example) are positioned between the suction points 24. The inner edge 48 may be defined, for example, by a slot 50 in the gripped object 12.

[0109] FIG. 6 illustrates an exemplary gripping configuration in a suction cup protection mode of operation, in which the gripped object 12 is shown positioned such that the outer edge 46 of the gripped object 12 is not positioned at the suction point 24, but rather is positioned between or outside the vacuum grippers 18.

[0110] FIG. 7 illustrates an exemplary gripping configuration in a gripped object protection mode of operation, in which the gripped object 12 is held at a specified safety distance 52 by the vacuum gripper 18 .

[0111] The modes of operation are not limited to the gripping configuration shown as an example.

Claims

1. A method for operating a handling system (10) for transporting a plurality of gripped objects (12), in particular of different geometric shapes, from a pick-up area (14) to a deposition area (16), said handling system (10) comprising: a vacuum gripper (18) having a plurality of individually actuatable suction points (24); a manipulator (20) for moving the vacuum gripper (18); a control device (42) for controlling the handling system (10), the control device comprising a data processing device and a non-volatile memory device; The method comprises: receiving or determining a data set of grasped objects representing the position of the pickup area (14), the weight and the geometric shape of each grasped object (12); uniquely assigning at least one attraction point (24) of a plurality of attraction points (24) to each grasped object (12) as a function of the grasped object data set; generating a gripping control signal based on a gripping strategy data set that causes the handling system to sequentially pick up the objects to be gripped, each assigned to at least one suction point, so that the objects to be gripped are held together by the vacuum gripper; generating a manipulator control signal that causes the manipulator (20) to move the vacuum gripper (18) with the attracted gripped object (12) to the deposition area (16).

2. Determining the grasping strategy data set for each grasped object (12) comprises: a. The minimum number n of suction points (24) required to grip the object (12) as a function of the weight of the object (12) ｒｅｑ and determining b. at least n of the plurality of suction points (24) of the vacuum gripper (18) as a function of the geometric shape of the gripped object (12), in particular of the geometric shape of at least a subset of the further gripped objects (12), ｒｅｑ The corresponding number of adsorption points (24) n ｏｕｔ and selecting:

3. selecting the adsorption points After suction, the gripped object (12) is held by the vacuum gripper (18) in a torque-balanced manner. and / or After suction, the gripped objects (12), in particular at least a subset of all gripped objects, are held by the vacuum gripper without overlapping and at a particularly specified safety distance. and / or The method of claim 2 , wherein the method is performed such that after gripping, at least a subset of the gripped objects are held in an overlapping relationship by the vacuum gripper.

4. selecting the attraction points further comprises determining the position and / or orientation of the attraction points (24) of the gripping object (12), in particular as a function of the geometric shape of the gripping object (12), in particular of the geometric shape of at least a subset of the further gripping objects (12), 4. The method according to claim 2 or 3, wherein the suction points (24) are arranged on the gripping object (12) in the determined positions and / or orientations.

5. The number of adsorption points (24) required, n ｒｅｑ but, the expected acceleration force when handling the object (12); the material of said gripping object (12), in particular its porosity; The method according to any one of claims 2 to 4, further determined under one or more boundary conditions of:

6. 6. The method according to claim 1, wherein determining the grasping strategy data set, in particular selecting the suction points (24), is further determined as a function of the position of the object (12) to be grasped in the pickup area (14).

7. The method according to any one of claims 1 to 6, wherein the grasping strategy data set also represents a grasping sequence in which the object to be grasped (12) is picked up, and the picking up of the object to be grasped (12) is performed according to the grasping sequence, and in particular the determination of the grasping sequence is performed as a function of the height position of the object to be grasped (12) in the pickup area (14), with objects to be grasped (12) located lower being picked up earlier.

8. The method according to any one of claims 1 to 7, wherein determining the grasping strategy data set is performed such that a second grasped object, which is attracted after a first grasped object, at least partially covers the first grasped object.

9. 9. The method according to claim 8, wherein the gripping control signals define a maximum acceleration of the manipulator (20) after picking up each gripped object (12), and the gripping control signals are determined such that the maximum acceleration after picking up the second gripped object is greater than the maximum acceleration after picking up the first gripped object.

10. The handling system (10) has a high performance mode of operation, in which: Determining the grasping strategy data set includes determining the minimum number n of grasping strategies required for grasping the object (12). ｒｅｑ This is performed so that only the adsorption points (24) of and / or 10. The method according to claim 1, wherein determining the grasping strategy data set, in particular selecting the suction points (24), is performed in such a way that a second grasped object that is picked up after a first grasped object at least partially covers the first grasped object, and in particular the grasping control signals define a maximum acceleration of the manipulator after picking up the respective grasped object (12), and the grasping control signals are determined in such a way that the maximum acceleration after picking up the second grasped object is greater than the maximum acceleration after picking up the first grasped object.

11. The handling system (10) has a safe operating mode, in which determining the gripping strategy data set is performed in particular so that the suction points (24) are selected in such a way that the gripped object (12) is held by the vacuum gripper (18) without overlapping, and / or determining the grasping strategy data set further comprises determining a position and / or orientation of the assigned at least one attraction point (24) of the grasped object (12) as a function of the geometric shape of the grasped object (12) such that an edge of the grasped object (12) is located between the attraction points (24); and / or Determining the grasping strategy data set includes determining a minimum number n of objects (12) required for grasping. ｒｅｑ The method according to any one of claims 1 to 10, wherein the method is carried out so that more than two adsorption points (24) are allocated.

12. 12. The method according to claim 10 or claim 11, wherein the manipulator control signal defines a maximum acceleration of the manipulator (20) when moving the attracted object (12) from the pickup area (14) to the deposition area (16), and the maximum acceleration is greater in the high performance operating mode than in the safe operating mode.

13. The handling system (10) has a suction cup protection mode of operation, in which: determining the grasping strategy data set further comprises determining positions and / or orientations of the assigned attraction points (24) of the grasping object (12) as a function of the geometric shape of the grasping object (12) such that an edge of the grasping object (12) is located between the attraction points (24); and / or Determining the grasping strategy data set includes determining a minimum number n of objects (12) required for grasping. ｒｅｑ The method according to any one of claims 1 to 12, wherein the method is carried out so that only adsorption points (24) of

14. 14. The method according to claim 1, wherein the handling system (10) has a gripped object protection operating mode, in which the determining of the gripping strategy data set is performed in such a way that two adjacent gripped objects (12) are held at a specified safety distance by the vacuum gripper (18) or at least do not overlap, in particular the suction points (24) are selected.

15. The method of any one of claims 10 to 14, further comprising selecting one of the operation modes before determining the grasping strategy data set.

16. The object to be grasped (12) is attracted to the object to be grasped. a) activating at least one suction point (24) assigned to a first grasped object (12); b) moving the vacuum gripper (18) towards the gripped object (12); c) attracting the object (12) by the activated at least one attraction point (24); d) repeating steps a) to c) for the further gripped objects (12) until all of the gripped objects (12) have been attracted to the vacuum gripper (18).

17. The method according to any one of claims 1 to 16, wherein determining the object dataset comprises receiving image data representative of an image of the object (12) and analyzing the image data, in particular by means of image processing methods.

18. Determining the weight of each of the gripped objects (12) determining a volume of the grasped object, including analyzing the image data by a workpiece division method; 18. The method of claim 17, further comprising (optionally) determining the material of the object to be held, the determining comprising analyzing the image data representing the image of the object to be held by a machine learning algorithm trained to determine the material of the object to be held from the image data.

19. A computer program product comprising commands which, when the program is executed by a data processing system, in particular by the data processing system of the control device (42) of the handling system (10), cause the data processing system to carry out the method according to any one of claims 1 to 18.

20. A handling system (10) comprising: a vacuum gripper (18) having a plurality of individually actuatable suction points (24); a manipulator (20) for moving the vacuum gripper (18); a control device (42) for controlling the handling system (10), the control device (42) having a non-volatile memory device and a data processing system, the non-volatile memory device having a data processing system for storing data for the handling system (10). A handling system (10) on which control instructions for carrying out the method according to any one of claims 1 to 18, in particular a computer program product according to claim 19, are stored.

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