Control method for controlling a transport device having multiple drive elements, computer program product, and transport system

Abstract

The invention relates to a control method (100) for controlling a transport device (2) for transporting material to be transported (3) from a starting area (4) to a target area (6) in a transport system (1), in particular in the form of a palletizing system, having multiple drive elements (11), each of which is able to be controlled by in each case at least one movement function (201), comprising: recording (101) path data (210) concerning the transportation of the material to be transported (3) from the starting area (4) to the target area (6), by way of a monitoring unit (20) of the transport system (1). The invention furthermore relates to a computer program product and to a transport system (1).

Description

[0001] Control method for controlling a transport device with several drive elements, computer program product and transport system

[0002] Description

[0003] The invention relates to a control method for controlling a transport device for transporting goods from a starting area to a destination area in a transport system, in particular in the form of a palletizing system, with a plurality of drive elements, a computer program product, and a transport system.

[0004] It is well known from the state of the art to palletize manufactured goods in order to transport them to another location, for example, by truck. For this purpose, the goods are usually stacked in several layers on a transport pallet.

[0005] Grippers are often used to arrange the goods on the pallet. These grippers pick up the transported goods in the form of palletized goods and place them at a predetermined location on the pallet. Such grippers, as described in document DE 103 09 131 A1, often use two controlled gripper arms to grasp the palletized goods and drop them onto the pallet or onto a sliding table.

[0006] The drop position in such palletizing systems is often based on a layer pattern created by the customer, which is established by moving the gripper along two axes to position the transported goods according to the coordinates of the drop point. However, the mechanical wear of the palletizing system depends heavily on the jerk during the gripper's movement, so it is known to design the movement along the axes according to a law of motion with a constant jerk. However, it is desirable to enable low-wear operation at the highest possible cycle rates when palletizing the transported goods in order to achieve a high throughput of the transported goods.

[0007] It is an object of the present invention to at least partially remedy the above-mentioned disadvantages known from the prior art. In particular, it is an object of the present invention to improve the control of a transport device, preferably in a palletizing system, with respect to at least one operating characteristic and / or at least one target variable, preferably with respect to low-wear operation at the highest possible cycle rates, when transporting goods through the transport device.

[0008] The above object is achieved by a control method having the features of claim 1, a computer program product having the features of claim 16, and a transport system having the features of claim 17. Further features and details of the invention emerge from the respective subclaims, the description, and the drawings. Features and details described in connection with the control method according to the invention naturally also apply in connection with the computer program product according to the invention and / or the transport system according to the invention, and vice versa, so that with regard to the disclosure of the individual aspects of the invention, reciprocal reference is or can always be made.

[0009] According to a first aspect of the invention, a control method is provided for controlling a transport device for transporting goods from a starting area to a destination area in a transport system, in particular in the form of a palletizing system, with a plurality of drive elements, each of which can be controlled by at least one movement function. The control method comprises, in particular in the form of method steps:

[0010] Recording path data of the transport of the goods from the starting area to the destination area by a control unit of the transport system, in particular for each of the drive elements, defining one of the drive elements as a base element, which defines a movement specification depending on the path data and on the movement function assigned to the base element, and at least one other drive element, ie in particular another of the drive elements, as an optimization element, in particular by the control unit,

[0011] Determining a control function for the optimization element depending on the movement specification, in particular by the control unit,

[0012] - Controlling the base element using the movement function assigned to the base element and controlling the optimisation element using the control function specified for the optimisation element by the control unit.

[0013] The transported goods can preferably be piece goods, in particular in the form of pre-stacked and / or empty packaging, e.g. in the form of bags. The transported goods can preferably comprise valve bags. Furthermore, the transported goods can have a stack height that is defined by a number of pre-stacked individual products. The control unit can comprise a processor and / or a microprocessor. Furthermore, the control unit can be at least partially or completely integrated into a central control unit of the transport device and / or the transport system. However, it is also conceivable for the control unit to be at least partially or completely integrated into one or more decentralized control units.

[0014] Furthermore, the transport device can have an interface for connecting the transport device to a production line for manufacturing the transported goods. In this case, the transport device can form a termination point of the production line. The starting area can be a receiving point at which the transport device takes over the transport of the transported goods. The destination area can be a delivery point at which the transport of the transported goods by the transport device is completed. However, it is also conceivable for the starting area and / or the destination area to comprise intermediate positions during transport within the transport device. The starting area can comprise a loading device for loading the transported goods onto the transport device.For example, a lifting table can be arranged at the starting area to lift the transported goods and enable them to be picked up by a transport unit, in particular in the form of a gripper unit. A pallet for receiving the transported goods can be arranged in the target area. Preferably, several pallets can be kept in the target area for sequential loading with transported goods. Advantageously, the transported goods can be set down and / or dropped above the target area, in particular by dropping.

[0015] The drive elements can comprise drives or parts of drives for moving the transported goods, in particular for moving a transport unit with the transported goods, along a movement axis, which can also be referred to as a transport axis. In particular, each of the drive elements can comprise an electric motor, preferably in the form of a servo motor and / or an NC motor. For example, the transport device can comprise three movement axes along which the transported goods can be transported during transport. Two of the movement axes can be used to position the package based on coordinates for the target area. Furthermore, a third movement axis can be provided for rotating the transported goods, for example, into angular positions of +90°, -90° and / or -180°.

[0016] The transport path data can preferably include position data of the starting area and the destination area, in particular in the form of position information about a pickup position for picking up the transported goods in the starting area and / or a delivery position for delivering the transported goods in the destination area. The position data can, for example, include coordinates, preferably in a common or individual coordinate system for the drive elements. It is conceivable that, when recording the path data, a movement distance for each movement axis and / or each of the drive elements is recognized and / or calculated, in particular based on the position data.

[0017] Among the motion functions, transport functions can serve, in particular, to implement motion laws. The motion functions are designed, in particular, to control and / or regulate the respectively assigned drive element. In particular, the motion functions can be coordinated with a mechanical system of the transport device. The motion functions preferably comprise a numerical and / or analytical relationship between at least one input variable and at least one output variable for controlling the drive elements. For example, the motion functions can comprise transfer functions depending on the output variable and the input variable during transport. The motion functions for the drive elements can also be different or identical. For example, each of the drive elements can be assigned a different motion function, or all drive elements can be assigned an identical motion function.Preferably, the motion functions can be standardized, in particular to one. Scaling can be performed to control the base element and the optimization element, in particular taking into account a maximum speed and / or a maximum acceleration. The standardized motion functions, the maximum speed and / or the maximum acceleration, can be predefined, in particular for each drive element. The control function can be understood as a motion function assigned to and / or varied by the optimization element.

[0018] The movement specification can, for example, be calculated based on the path data and the movement function assigned to the base element and / or determined from a predefined database. For example, the movement specification can include an operating parameter of the base element, in particular when controlling the base element, which the optimization element should not exceed or fall below. For example, the base element can be defined as the slowest drive element. The definition of the base element and the optimization element can include a subdivision of the drive elements into the base element and one or more optimization elements. It can be provided that the base element and / or the optimization element is defined directly or indirectly. For example, the definition of the base element and the optimization element can include a transfer of identification parameters to a test process.Furthermore, the movement function and / or a transport parameter of the drive element defined as the base element and / or the drive element defined as the optimization element can be stored in a predefined memory area.

[0019] The control of the base element and the control of the optimization element can preferably occur simultaneously. When controlling the base element and the optimization element, the movement function assigned to the base element and the control function intended for the optimization element can be output to the respective drive elements. For this purpose, the control unit can communicate directly or indirectly with the drive elements. By controlling the base element and the optimization element, the transport of the goods from the starting area to the destination area can be implemented.

[0020] In particular, the movement represented by the movement functions can be optimized for the respective distance to be covered along the movement axes while adhering to the movement specification, and thus preferably the maximum speed, acceleration, and / or deceleration. In particular, losses, e.g., due to friction, which require a smaller force for deceleration, can also be taken into account in the movement functions. Furthermore, the movement functions make it possible, in particular, to specify different values ​​for acceleration and deceleration. By distinguishing between the base element and the optimization element, the base element can be the leading drive element, to which the optimization elements are subordinate.Within the scope of the present invention, it has been recognized that, depending on the path data, one of the drive elements determines a first target variable, while the remaining drive elements can be operated in a different manner, e.g., with less wear, without affecting the first target variable for transport. This can consequently extend the service life of the transport device. Furthermore, positioning accuracy can be increased, for example, by a smooth entry into the end of a movement.

[0021] Furthermore, in a control method according to the invention, it can advantageously be provided that the control method, in particular in the form of a method step, comprises:

[0022] - Carrying out a test process to detect a variability of the motion function for the optimization element as a function of the motion specification, in particular by the control unit, wherein the control function for the optimization element is determined as a function of the test process, in particular as a function of the variability of the motion function. The variability of the motion function for the optimization element can be understood as an interchangeability and / or modifiability of the motion function assigned to the optimization element. During the test process, it can be checked whether the motion specification is still met when the motion function is varied.When determining the control function, the variation of the motion function, in particular in the form of an exchange with another motion function and / or a modification of the motion function, can be taken into account depending on the result of the test procedure with regard to variability. If the result of the test procedure is negative, the motion function, in particular unchanged, can be defined as the control function. By recognizing the variability, it can be determined whether and to what extent the operation of the optimization element can be modified. For example, the maximum force to be transmitted for transport can be limited for the optimization element and / or the base element, and a load limit can be better utilized by adjusting the deceleration in order to enable rapid movement during transport.

[0023] Furthermore, in a control method according to the invention, it can advantageously be provided that the motion functions define a speed, an acceleration, and / or a jerk when controlling the drive elements, in particular for transporting the transported goods. The jerk is, in particular, the derivative function of the acceleration. The motion functions can comprise equations, graphs, and / or a control algorithm that controls and / or regulates the movement of the machine. For this purpose, a PID controller (proportional-integral-derivative), trajectory planning algorithms, and / or kinematic models can be implemented in the control unit to define the movement for the transport. In particular, the motion functions can define curves of a power, a distance, a speed, an acceleration, a jerk function, and / or a dynamic drive torque of a standardized motion law.The motion functions can, for example, each comprise a sine function, in particular in the form of an inclined sine line, a Bestehorn sinuid, a higher sinuid, a skewed sine line, and / or a cycloidal motion, or be based on the sine function. Furthermore, it is conceivable for the motion functions to comprise a polynomial, preferably of the fifth order. The motion functions can thus be used to define a smooth and / or efficient movement for the transport in order to reduce mechanical stress on the transport device.

[0024] Furthermore, in a control method according to the invention, it can advantageously be provided that the movement specification comprises a first target variable, in particular in the form of a transport time, in particular wherein the determination of the control function is carried out as a function of a second target variable, in particular in the form of the jerk. Preferably, the variability can be tested during the testing process for detecting the variability of the movement function as a function of the second target variable, in particular in the form of the jerk. The first and / or the second target variable can advantageously be minimized or maximized in the control method. The transport time can be understood as a time required for the movement of the transported goods during transport from the start area to the destination area and / or a cycle time when transporting multiple transported goods.The second target variable can comprise an operating parameter of the transport device, preferably a jerk, a power and / or a wear parameter. For example, the drive element with the longest transport time, i.e. in particular the slowest movement axis, can be defined as the base element during transport. During the testing process, the second target variable can be used to check whether, when the movement function is varied to minimize and / or maximize the second target variable, the variation fulfills the movement specification, i.e., for example, does not exceed the transport time of the base element. This allows the optimization element to be operated more slowly and / or more smoothly with the same process time. However, it is also conceivable that the first or the second target variable, e.g.a following error, a mechanical moment, an oscillation of a current regulator, energy efficiency to reduce energy costs when operating the transport device and / or positional accuracy when positioning the transported goods in the target area.

[0025] Furthermore, in a control method according to the invention it can advantageously be provided that the movement functions for the drive elements and / or the movement specification define synchronization during the transport of the transported goods, in particular wherein a movement start and / or a movement end of the drive elements is coordinated. For this purpose, all movement functions can be scaled to the slowest so that the drive elements are operated synchronously. The synchronization can be predetermined by a predefinition of the movement functions and / or by the movement specification. Synchronization can be understood to mean that the movement of the drive elements starts and / or ends at the same time. The movement start can in particular be a start time of the movement for the transport and the movement end can be an end time of the movement for the transport. The coordination of the movement start and / or the movement end can be temporal.Preferably, the start and end of movement of the drive elements during transport can each take place jointly, i.e. in particular simultaneously, for the drive elements, in particular all drive elements. It is conceivable that a jerk, a speed and / or an acceleration of zero or approximately zero is defined for the end of the movement. Thus, all drive elements can be permanently in motion during transport. The faster drive elements can be throttled to the transport time of the slowest movement in order to ensure low-wear operation. In particular, the motion laws for the motion functions can differ in specific properties for traveling a distance within the same time, such as the level of the required speed, acceleration, jerk and / or power.Through variations and / or synchronization, the different strengths of the motion laws can be used appropriately to the situation, preferably without reducing the first target variable in relation to the overall process.

[0026] Furthermore, in a control method according to the invention, it is conceivable that, in order to define the base element and the at least one optimization element for each of the drive elements, a transport parameter for the transport of the transported goods is calculated as a function of the path data on the basis of the movement functions, i.e. in particular the respective movement function, wherein the base element and the optimization element are defined as a function of a comparison of the calculated transport parameters. For this purpose, the movement functions can comprise a functional relationship between the path data and the transport parameter. Furthermore, it is conceivable that the transport parameters for defining the base element and the optimization element are calculated by simulating the transport. The transport parameter can preferably comprise a value of an operating parameter, in particular an expected value of the first target variable.To define the base element, it is possible to determine which of the drive elements is assigned the largest or smallest transport parameter. This makes it easy to identify the drive element that determines the movement for the transport with respect to the first target variable.

[0027] Furthermore, in a control method according to the invention, it can advantageously be provided that the movement specification comprises a permissible parameter range, which is defined in particular based on the transport parameter calculated for the base element. Preferably, the transport parameter calculated for the base element forms a limit value for defining the parameter range. For example, the parameter range can comprise a range that is greater than, less than, or equal to the transport parameter calculated for the base element. Thus, during the testing process, it can be checked whether a transport parameter calculated based on the variation of the movement function lies within the permissible parameter range. This allows the movement specification to be defined dynamically by the base element.

[0028] Furthermore, in a control method according to the invention, it can advantageously be provided that the movement functions, i.e. in particular the movement functions used to define the base element and the optimization element, each form a first function stage of a multi-stage, predefined function selection for the drive elements, wherein the testing process checks which of the function stages of the function selection for the optimization element fulfills the movement specification. After the first function stage, all further function stages of the function selection preferably comprise variations of the movement functions. The function selection can comprise two or more function stages. Each of the function stages can comprise a predefined variation of the associated movement function. The first function stage can preferably form a predefined start stage.The motion functions of the first functional stage can therefore preferably be referred to as start functions. However, it is also conceivable for the first functional stage to form an intermediate stage, for example, if further functional stages have already been completed. By selecting functions with the functional stages, the motion laws according to which the drive elements are controlled can be predefined. This eliminates the need for a complete redefinition of the variation of the motion functions during operation, allowing the behavior of the transport device to be advantageously controlled.

[0029] Within the scope of the invention, it is further conceivable for the function selection to comprise a hierarchical structure of the function levels, in particular wherein the hierarchical structure is a function of the first target variable and / or the second target variable. Preferably, each movement function can furthermore have a polynomial degree that increases or decreases with the hierarchical structure. For example, the first function level can comprise a fifth-degree polynomial, the second function level a sixth-degree polynomial, and the third function level a seventh-degree polynomial. Furthermore, the function levels can be arranged and / or staggered depending on the first and / or second target variable. For example, the second target variable can be increased or decreased as the level of the function level increases. During the testing process, the highest function level that still fulfills the movement specification can preferably be determined.This makes it easy to determine an optimal functional level for the second target variable based on the predefined function selection.

[0030] Within the scope of the invention, it is further conceivable for the testing process to comprise an iteration process with at least one testing step for determining which of the functional stages of the functional selection fulfills the movement specification for the at least one optimization element, in particular wherein the respective transport parameter for the optimization element is calculated during the testing step as a function of the path data using at least one further functional stage of the functional selection for the transport. A variation of the movement function can be tested with each functional stage. Preferably, the iteration process comprises a plurality of testing steps through which the functional stages are iteratively run through. The iteration process thus allows a further functional stage to be run through with each testing step. This allows the functional selection to be checked in an efficient manner.The calculated transport parameter can be compared with the transport parameter calculated for the base element to verify whether the movement specification is met by the variation of the movement function assigned to the respective functional level. This allows each of the functional levels to be individually evaluated with regard to the movement specification.

[0031] Furthermore, in a control method according to the invention, it can advantageously be provided that the test step is repeated during the iteration process, in particular for further functional stages, until the reached functional stage violates the movement specification, wherein the control function is determined on the basis of the last functional stage that fulfills the movement specification when determining the control function. A violation of the movement specification can be understood as a non-fulfillment of the movement specification. For example, a transport time of the base element can be undershot. If the last functional stage that fulfills the movement specification is reached, it is thus possible to jump back one functional stage from the reached functional stage if it is determined that the reached functional stage does not fulfill the movement specification. The iterative procedure along the functional stages allows the test process to be carried out in a computationally efficient manner.In particular, this can avoid unnecessary calculation of several functional levels that do not meet the movement requirements.

[0032] Furthermore, in a control method according to the invention, it can advantageously be provided that the transport system comprises three or more drive elements, wherein when the base element is defined, all other drive elements are determined as optimization elements and the iteration process is preferably carried out and / or repeated separately for each optimization element. It is conceivable for the transport system to comprise five or more, preferably ten or more, drive elements. Thus, the testing process can comprise several separate iteration processes. By defining the plurality of optimization elements, the control method can also be carried out if the transport device is a multi-axis transport device. In particular, any number of drive elements can thus be operated advantageously.

[0033] Preferably, in a control method according to the invention, it can be provided that when controlling the base element and when controlling the at least one optimization element, a gripper unit is controlled to grip the transported item in the starting area and to move the transported item into the target area. The gripper unit can be mounted, for example, on a gripper frame, in particular in the form of a gantry. The gripper unit can have at least two gripper elements that are movable relative to one another to carry out a closing movement by which the transported item can be at least partially enclosed in a transport space formed between the gripper elements at the receiving location, and to carry out an opening movement by which the transport space can be opened to release the transported item at the target area.Furthermore, the transport device can comprise a gripper drive unit for moving the gripper elements, which has an electric gripper drive for each of the gripper elements, which can be controlled by the control unit for the coordinated execution of the closing movement and the opening movement of the gripper elements. The gripper drive unit can preferably be integrated into the gripper unit. For example, the gripper elements and the gripper drives can be arranged on a movement means of the gripper unit. The transport device can further comprise at least one main drive unit, which can be controlled by the control unit in order to move the movement means with the gripper elements between the start area and the target area. The main drive unit preferably comprises one or more electric drives.The gripper unit enables a safe and complex transport movement to reach the target area.

[0034] Within the scope of the invention, it is further conceivable for the drive elements to comprise axle drives, by means of which the gripper unit can be moved along a respective movement axis, and / or at least one drive of a lifting device, preferably for moving a lifting rake of the lifting device, a sliding table, a height adjustment of a gripper frame and / or at least one stop element, in particular in the form of a front and / or rear stop element on a lifting surface for lifting the transported goods for the gripper unit. Additionally or alternatively, one of the drive elements can be formed, for example, by at least one drive of gripper arms of the gripper unit, a drive of a lifting table of the lifting device and / or a drive for adjusting the height of a pallet in the target area. The stop elements can be extendable for aligning the transported goods.The gripper unit, the lifting rake, the sliding table, the gripper frame, and at least one stop element can be part of a palletizing system. Thus, different movement sequences during transport and, preferably, palletizing of the goods can be coordinated by the control method to enable efficient and low-wear operation of the transport system.

[0035] Furthermore, in a control method according to the invention, it can advantageously be provided that, in order to record the path data, a position pattern for palletizing the transported goods in the target area is recorded, wherein the path data is determined based on the position pattern. The position pattern can, for example, be manually specified at a user interface of the control unit. In this case, a target position of successive transported goods in the target area can be varied depending on the position pattern. A pickup position of the transported goods in the start area can be fixed or variable. Preferably, the definition of the base element and the optimization element, the execution of the test process, the determination of the control function, and the control of the base element and the optimization element are carried out individually. This allows the movement sequence within a job to be dynamically adapted. According to a further aspect of the invention, a computer program product is provided.The computer program product comprises instructions which, when executed by a control unit, cause the control unit to carry out a control method according to the invention.

[0036] Thus, a computer program product according to the invention brings with it the same advantages as have already been described in detail with reference to a control method according to the invention. The control method can in particular be a computer-implemented method. The computer program product can be implemented as computer-readable instruction code. Furthermore, the computer program product can be stored on a computer-readable storage medium such as a data disk, a removable drive, a volatile or non-volatile memory, or a built-in memory / processor. Furthermore, the computer program product can be provided or made available in a network such as the Internet, from which it can be downloaded by a user or executed online as needed. The computer program product can be implemented both by means of software and by means of one or more special electronic circuits, i.e.be implemented in hardware or in any hybrid form, ie using software components and hardware components.

[0037] According to a further aspect of the invention, a transport system, in particular in the form of a palletizing system, is provided for transporting goods. The transport system comprises a transport device for transporting the goods from a starting area to a destination area. Furthermore, the transport system has a control unit for executing a control method according to the invention for controlling the transport device.

[0038] Thus, a transport system according to the invention brings with it the same advantages as have already been described in detail with reference to a control method according to the invention and / or a computer program product according to the invention. Furthermore, it can be provided that a production device for producing and / or pre-stacking the transported goods is integrated into the transport system. In particular, the production device can be connected to the transport device in order to realize automatic conveyance of the transported goods from the production area to the target area. Furthermore, it is conceivable in a transport system according to the invention that the transport system is a palletizing system for palletizing the transported goods in the target area. The stack height of the transported goods can be varied when transporting successive pallet layers and / or pallets.In palletizing, a cycle frequency for transporting the goods can be an important factor for the cost-effectiveness of the palletizing system. At the same time, multiple axes of motion can be provided along which the transport takes place, and via which vibrations can be introduced into the palletizing system. The control method can enable a high cycle frequency, which simultaneously enables gentle movement along the axes of motion of the optimization elements. An existing palletizing system can preferably be retrofitted with the implementation of the control method.

[0039] It is further conceivable in a transport system according to the invention for the transport device to comprise a multi-axis controllable gripper device for transporting the transported goods, wherein each controllable axis of the gripper device comprises a drive element which is controlled by the control method. The transport system can preferably comprise further drive elements, in particular in the form of at least one drive for moving a lifting rake, a sliding table, a height adjustment of a gripper frame and / or at least one stop element. When palletizing with a gripper unit, the transported goods can be freely moved at great heights. The gripper unit with the transported goods has a high, oscillating mass, the acceleration of which can lead to vibrations in the transport device.Within the scope of the present invention, it has been recognized, especially for such a palletizing system, that the control method can enable less vibrational operation through the improved control of the at least one optimization element.

[0040] Further advantages, features, and details of the invention will become apparent from the following description, in which exemplary embodiments of the invention are described in detail with reference to the drawings. The features mentioned in the claims and in the description may be essential to the invention individually or in any combination. They schematically show: Figure 1 shows a plan view of a transport system according to the invention in the form of a palletizing system for carrying out a control method according to the invention.

[0041] Figure 2 the transport system for transporting goods,

[0042] Figure 3 shows a multi-stage function selection for drive elements of the transport system,

[0043] Figure 4 Transport parameters of functional stages of the function selection depending on a first and second target variable,

[0044] Figure 5 shows the sequence of the control procedure,

[0045] Figure 6 shows a sequence of a test procedure in the control method.

[0046] In the following description of some embodiments of the invention, the same reference numerals are used for the same technical features even in different embodiments.

[0047] Figure 1 shows a transport system 1 according to the invention, here in the form of a palletizing system, for transporting goods 3. The transport system 1 comprises a transport device 2 for transporting the goods 3 from a start area 4 to a destination area 6. Furthermore, the palletizing system is designed to palletize the goods 3 in the destination area 6. For this purpose, the transport device 2 comprises a multi-axis controllable gripper device 5 for transporting the goods 3. As shown in Figure 2, the gripper device 5 has a gripper unit 10 for gripping the goods 3 in the start area 4 and for moving the goods 3 into the destination area 6. In particular, the start area 4 is formed by a lifting device 15, by means of which the goods 3 can be moved in the direction of the gripper device 5.During palletizing, the transported goods 3 are dropped over a sliding table 12 arranged above the target area 6 in order to form a layer pattern 215 on the sliding table 12.

[0048] For transporting the goods to be transported 3 from the starting area 4 to the destination area 6, the transport device 2 comprises a plurality of drive elements 11 in the form of axle drives, by means of which the gripper unit 10 can be moved along a respective movement axis 10.1, and at least one drive element 11 for moving a lifting rake of the lifting device 15, a sliding table 12 and / or a height adjustment of a gripper frame 13. Furthermore, two stop elements 14 are preferably provided for aligning the goods to be transported 3 before gripping by the gripper unit 10, which stop elements 14 also each have a drive element 11. Each of the drive elements 11 can be controlled by at least one movement function 201 in order to carry out the movement of the goods to be transported 3 assigned to the respective drive element 11.

[0049] The transport system 1 further comprises a control unit 20 for executing a control method 100 for controlling the transport device 2. For this purpose, a computer program product can be provided that includes instructions that, when executed by the control unit 20, cause the control unit 20 to execute the control method 100. A sequence of the control method 100 is shown in Figure 5.

[0050] In the control method 100, the control unit 20 first records 101 path data 210 for the transport of the transported goods 3 from the starting area 4 to the destination area 6. For this purpose, the position pattern 215 for palletizing the transported goods 3 can be recorded by the control unit 20 via a user interface 23. Based on the position pattern 215, a starting position of the transported goods 3 in the starting area 4 and an end position in the destination area 6 can thus be determined in order to determine the path data 210, in particular in the form of an adjustment path for each of the drive elements 11. However, it is also conceivable for the path data 210 to be stored order-related and / or permanently and to be retrieved by the control unit 20.

[0051] Subsequently, one of the drive elements 11 is defined 102 as a base element 11.1, which defines a movement specification 211 depending on the path data 210 and the movement function 201 assigned to the base element 11.1, and all other drive elements 11 are defined as optimization elements 11.2. The movement functions 201 preferably comprise motion laws for the drive elements 11. In particular, the movement functions 201 define a speed, an acceleration and / or a jerk when controlling the drive elements 11. To define 102 the base element 11.1 and the optimization elements 11.2, a transport parameter 214 for the transport of the transported goods 3 is calculated for each of the drive elements 11 based on the movement functions 201, as a function of the path data 210, as shown in Figure 4 in a diagram for the base element 11.1 and one of the optimization elements 11.2.The transport parameters 214 represent, in particular, values ​​of the target variable which are achieved by the transport based on the movement functions 201. The base element 11.1 and the optimization elements 11.2 are defined as a function of a comparison of the calculated transport parameters 214. The movement specification 211 can comprise a first target variable 212, in particular in the form of a transport time. Preferably, the drive element 11 with the longest transport time is defined as the base element 11.1. Furthermore, the movement specification 211 comprises a permissible parameter range 211.1, which is defined based on the transport parameter 214 calculated for the base element 11.1 by the transport time of the base element.

[0052] 11.1 calculated transport parameter 214 a limit of the permissible

[0053] Parameter range 211.1.

[0054] For each of the optimization elements 11.2, a test process 103 is also carried out to detect a variability of the movement function 201 for the optimization element

[0055] 11.2 depending on the movement specification 211. For this purpose, a second target variable 213, particularly in the form of a jerk, is specified. The jerk has a significant influence on the vibration behavior and thus on mechanical wear of the transport device 2, so that smooth control can increase the service life of the transport device 2.

[0056] As shown in Figures 3 and 4, the motion functions 201 used to define the base element 11.1 and the optimization element 11.2 form a first function level 200.1 of a multi-level, predefined function selection 200 for the drive elements 11. All further function levels 200.1 of the function selection 200 include, in particular, variations 201.1 of the motion functions 201. The function selection 200 includes a hierarchical structure of the function levels 200.1, 200.2, which, as shown in Figure 4, can be a function of the first target variable 212 and the second target variable 213. The motion functions 201 are varied across the function levels 200.1, 200.2. In the test process 103, it is checked which of the function levels 200.1, 200.2 of the function selection 200 for the optimization element 11.2 fulfills the movement specification 211.As shown in Figure 6 using a sequence of the test process 103, the test process 103 comprises an iteration process 103.1 with at least one test step 103.2 for determining which of the function levels 200.1, 200.2 of the function selection 200 fulfills the movement specification 211 for the at least one optimization element 11.2. The respective transport parameter 214 is calculated in the test step 103.2 for the optimization element 11.2 as a function of the path data 210 using at least one further function level 200.2 of the movement functions 201 for the transport. Furthermore, the test step 103.2 is repeated in the iteration process 103.1 for further function levels 200.2 until the reached function level 200.4, as shown in Figure 4, violates the movement specification 211. The iteration process 103.1 is carried out and / or repeated separately for each optimization element 11.2.

[0057] Subsequently, a control function 202 is determined 104 for the respective optimization element 11.2 depending on the respective variability of the motion function 201, which is limited by the motion specification 211. The control function 202 is determined based on the last function level 200.3, which lies within the permissible parameter range 211.1 and thus fulfills the motion specification 211. Subsequently, the base element 11.1 is controlled 105 based on the motion function 201 assigned to the base element 11.1, and each of the optimization elements 11.2 is controlled 106 based on the control function 202 determined for the respective optimization element 11.2.

[0058] Preferably, the movement functions 201 for the drive elements 11 and / or the movement specification 211 define a synchronous movement during the transport of the transported goods 3, so that a movement start and a movement end of the drive elements 11 are coordinated. It can be provided that the control is carried out in such a way that the movement start and the movement end of all drive elements 11 occur simultaneously.

[0059] The above explanation of the embodiments describes the present invention exclusively by way of examples. Of course, individual features of the embodiments can be freely combined with one another, provided they are technically feasible, within the scope of protection defined by the patent claims, without departing from the scope of the present invention. Reference symbols list

[0060] 1 transport system

[0061] 2 Transport device

[0062] 3 Transport goods

[0063] 4 Starting area

[0064] 5 gripper device

[0065] 6 Target area

[0066] 10 gripper unit

[0067] 10.1 Movement axis of 10

[0068] 11 drive elements

[0069] 11.1 Basic element

[0070] 11.2 Optimization element

[0071] 12 sliding table

[0072] 13 gripper frames

[0073] 14 Stop element

[0074] 15 Lifting device

[0075] 20 Control unit

[0076] 23 User interface

[0077] 100 control methods

[0078] 101 Capture of 210

[0079] 102 Setting 11.1, 11.2

[0080] 103 Testing procedure

[0081] 103.1 Iteration process

[0082] 103.2 Test step

[0083] 104 Determining 202

[0084] 105 Accessing 11.1

[0085] 106 Controlling 11.2

[0086] 200 function selection

[0087] 200.1 first functional level 200.2 further functional level

[0088] 200.3 final functional level

[0089] 200.4 achieved functional level

[0090] 201 Movement function 201.1 Variation of 201

[0091] 202 Control function

[0092] 210 route data

[0093] 211 Motion specification 211.1 permissible parameter range

[0094] 212 first target value

[0095] 213 second target value

[0096] 214 transport parameters

[0097] 215 layer patterns

Claims

Patent claims 1 . Control method (100) for controlling a transport device (2) for transporting transport goods (3) from a starting area (4) to a destination area (6) in a transport system (1), in particular in the form of a palletizing system, with a plurality of drive elements (11), each of which can be controlled by at least one movement function (201), comprising: Recording (101) of route data (210) of the transport of the goods (3) from the starting area (4) to the destination area (6) by a control unit (20) of the transport system (1), Defining (102) one of the drive elements (11) as a base element (11.1), which defines a movement specification (211) depending on the path data (210) and on the movement function (201) assigned to the base element (11.1), and at least one other drive element (11) as an optimization element (11.2), determining (104) a control function (202) for the optimization element (11.2) depending on the movement specification (211), - controlling (105) the base element (11.1) using the movement function (201) assigned to the base element (11.1) and controlling (106) the Optimization element (11.2) based on the control function (202) determined for the optimization element (11.2) by the control unit (20).

2. Control method (100) according to claim 1, characterized in that the control method (100) comprises: - Carrying out a test process (103) to detect a variability of the movement function (201) for the optimization element (11 .2) as a function of the movement specification (211), wherein the determination (104) of the control function (202) for the optimization element (11 .2) is carried out as a function of the test process (103).

3. Control method (100) according to claim 1 or 2, characterized in that that the movement functions (201) define a speed, an acceleration and / or a jerk when controlling the drive elements (11) for transporting the transported goods (3).

4. Control method (100) according to one of the preceding claims, characterized in that the movement specification (211) comprises a first target variable (212), in particular in the form of a transport time, wherein the determination (104) of the control function (202) is carried out as a function of a second target variable (213), in particular in the form of the jerk.

5. Control method (100) according to one of the preceding claims, characterized in that the movement functions (201) for the drive elements (11) and / or the movement specification (211) define a synchronous movement during the transport of the transported goods (3), in particular wherein a movement start and / or a movement end of the drive elements (11) is coordinated.

6. Control method (100) according to one of the preceding claims, characterized in that for defining (102) the base element (11.1) and the at least one optimization element (11.2) for each of the drive elements (11) on the basis of the movement functions (201), a transport parameter (214) for the transport of the transported goods (3) is calculated in dependence on the path data (210), wherein the base element (11.1) and the optimization element (11.2) are defined in dependence on a comparison of the calculated transport parameters (214).

7. Control method (100) according to one of the preceding claims, characterized in that the movement specification (211) comprises a permissible parameter range (211.1) which is defined on the basis of the transport parameter (214) calculated for the base element (11.1).

8. Control method (100) according to one of the preceding claims, characterized in that the movement functions (201) each form a first function stage (200.1) of a multi-stage, predefined function selection (200) for the drive elements (11), wherein the testing process (103) checks which of the function stages (200.1, 200.2) of the function selection (200) for the optimization element (11.2) fulfills the movement specification (211).

9. Control method (100) according to one of the preceding claims, characterized in that the function selection (200) comprises a hierarchical structure of the function stages (200.1, 200.2), wherein the hierarchical structure is a function of the first target variable (212) and / or the second target variable (213).

10. Control method (100) according to one of the preceding claims, characterized in that the testing process (103) comprises an iteration process (103.1) with at least one testing step (103.2) for determining which of the functional stages (200.1, 200.2) of the functional selection (200) satisfies the movement specification (211) for the at least one optimization element (11.2), in particular wherein the respective transport parameter (214) for the optimization element (11.2) is calculated in the testing step (103.2) as a function of the path data (210) using at least one further functional stage (200.2) of the functional selection (200) for the transport.

11. Control method (100) according to one of the preceding claims, characterized in that the test step (103.2) is repeated in the iteration process (103.1) for further functional stages (200.2) until the reached functional stage (200.4) violates the movement specification (211), wherein the control function (202) is determined in the determination (104) of the control function (202) on the basis of the last functional stage (200.3) which fulfills the movement specification (211).

12. Control method (100) according to one of the preceding claims, characterized in that that the transport system (1) comprises three or more drive elements (11), wherein when determining (102) the base element (11.1) all other drive elements (11) are determined as optimization elements (11.2) and the iteration process (103.1) is carried out and / or repeated separately for each optimization element (11.2).

13. Control method (100) according to one of the preceding claims, characterized in that when controlling (105) the base element (11.1) and when controlling (106) the at least one optimization element (11.2), a gripper unit (10) is controlled to grip the transported goods (3) in the starting area (4) and to move the transported goods (3) into the target area (6).

14. Control method (100) according to one of the preceding claims, characterized in that the drive elements (11) comprise axle drives, by means of which the gripper unit (10) can be moved along a respective movement axis (10.1), and / or at least one drive of a lifting device (15), a sliding table (12), a height adjustment of a gripper frame (13) and / or at least one stop element (14).

15. Control method (100) according to one of the preceding claims, characterized in that for detecting (101) the path data (210) a position pattern (215) for palletizing the transported goods (3) in the target area (6) is detected, wherein the path data (210) are determined on the basis of the position pattern (215).

16. A computer program product comprising instructions which, when executed by a control unit (20), cause the control unit (20) to execute a control method (100) according to one of the preceding claims.

17. Transport system (1), in particular in the form of a palletizing system, for transporting goods (3), comprising a transport device (2) for transporting the goods (3) from a starting area (4) to a destination area (6), and a control unit (20) for executing a control method (100) according to one of claims 1 to 15 for controlling the transport device (2).

18. Transport system (1) according to claim 17, characterized in that the transport system (1) is a palletizing system for palletizing the transported goods (3) in the target area (6).

19. Transport system (1) according to claim 17 or 18, characterized in that the transport device (2) comprises a multi-axis controllable gripper device (5) for transporting the transported goods (3), wherein each controllable axis of the gripper device (5) comprises a drive element (11) which is controlled by the control method (100).

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