Robot system for testing a loading space of a loading aid in a storage and order-picking system and operating method therefor
A robot system includes a robot having a gripping unit for gripping goods and a sensor system for detecting a loading space of a loading aid and the goods stored therein. After the gripping of a good, a check is conducted using a controller on whether a good protrudes beyond the loading space. If necessary, the good protruding beyond the loading space is gripped and placed at a different position, or the part of the good protruding beyond the loading space is moved into the loading space. Moreover, a method operates the robot system.
1. A method for controlling a robot in a storage and order-picking system, the robot comprising a gripping unit movable in relation to a robot base, the method comprising the steps:
gripping the goods from or out of a first loading aid, which is suitable for the transport of the goods, and placing the goods in or on a second loading aid, which is suitable for the transport of the goods, by the gripping unit,
providing a first loading space assigned to the first loading aid and providing a second loading space assigned to the second loading aid, the first loading space and the second loading space each being intended for accommodating the goods,
detecting the first loading space and the goods located within the first loading space by a sensor system, and
after the gripping of a first good of the goods, checking whether a second good of the goods other than the first good so gripped is unintentionally taken along or pulled along when moving the gripping unit out of the first loading aid and protrudes beyond the first loading space, and
a) the second good protruding beyond the first loading space is gripped by the gripping unit and placed at a different position, or
b) the part of the second good protruding beyond the first loading space is moved into the first loading space by the gripping unit,
if the outcome of a check is positive.
2. The method according to claim 1 , the method further comprising the step:
for placing the first good in or on the second loading aid, calculating a position within the second loading space, at which the first good likely does not protrude beyond the second loading space.
3. The method according to claim 1 , the method further comprising:
checking whether a good dropped from the gripping unit is located completely outside the one of the first loading space and the second loading space.
4. The method according to claim 3 , wherein
a check is conducted on whether the good that was dropped from the gripping unit is located on a rest surface which is arranged to be adjacent to at least one of the first loading aid and the second loading aid, and
the good located on the rest surface is gripped by the gripping unit and is placed
i) in or on the first loading aid, or
ii) in or on the second loading aid, or
iii) at a clearing place.
5. The method according to claim 3 , wherein a check is conducted on whether the good dropped from the gripping unit has dropped on the floor.
6. The method according to claim 1 , wherein the check on whether the second good protrudes beyond the first loading space, as well as the step a) or step b) are repeated recursively until the outcome of the check is negative.
7. The method according to claim 1 , wherein the check on whether the second good protrudes beyond the first loading space, as well as the step a) or step b) are repeated recursively, and the recursive repetition of this procedure is canceled after a predefined number of repetitions, and an alarm message is issued.
8. The method according to claim 1 , wherein the check on whether the second good protrudes beyond the first loading space takes place after gripping a different good from or out of the first loading aid.
9. The method according to claim 1 , wherein the check on whether the second good protrudes beyond the first loading space takes place after the gripping unit and/or the first good gripped by the gripping unit has been completely moved out of the first loading space.
10. The method according to claim 1 , wherein the check on whether the second good protrudes beyond the first loading space takes place after the gripping unit and/or the first good gripped by the gripping unit has been completely moved out of a detection region of the sensor system.
11. The method according to claim 1 , wherein the check on whether the second good protrudes beyond the first loading space takes place after completely moving the gripping unit and the first good gripped by the gripping unit laterally away from the first loading aid.
12. The method according to claim 1 , wherein the check on whether the second good protrudes beyond the first loading space is performed after each gripping of a good.
13. The method according to claim 1 , wherein the check on whether the second good protrudes beyond the first loading space is performed after each placing of a good in or on the second loading aid.
14. The method according to claim 1 , wherein the check on whether the second good protrudes beyond the first loading space takes place after placing a plurality of goods in or on the second loading aid.
15. The method according to claim 1 , wherein an occupied status of the gripping unit after the gripping of the first good is monitored and the check on whether a good protrudes beyond the first loading space is performed upon recognition of an unoccupied but activated gripping unit.
16. The method according to claim 1 , wherein, according to an order, the goods
are transported to the robot by the first loading aid,
are transferred from or out of the first loading aid into or onto the second loading aid, and
are transported away from the robot by the second loading aid.
17. The method according to claim 1 , wherein the first and second loading aids each comprises a bottom, side walls rising up from the bottom and a loading opening bounded by the side walls.
18. The method according to claim 17 , wherein the first loading space and the second loading space are each bounded towards the top by the loading opening.
19. The method according to claim 17 , wherein the first loading space and the second loading space are each defined to encompass a good in the first and second loading aids, respectively, that protrudes upwards past a container edge within a predetermined threshold distance of the container edge.
20. The method according to claim 19 , wherein the first loading space and the second loading space are each defined to encompass a good in the loading aids, respectively, that protrudes laterally past a container edge within a predetermined threshold amount defining a plane of the loading opening parallel to the side walls of the respective first and second loading aid.
21. The method according to claim 20 , wherein the first loading space and the second loading space are each defined to encompass a good in the loading aids, respectively, that hangs downwards below the plane a predetermined distance of the loading opening.
22. The method according to claim 1 , wherein the first good and the second good are plastic bags.
23. The method according to claim 1 , wherein the different position according to step a) is arranged in the first loading space of the first loading aid, and wherein the second good protruding beyond the first loading space is completely returned into the first loading space.
24. The method according to claim 1 ,
wherein the different position according to step a) is arranged in one of the first loading space of the first loading aid and the second loading space of the second loading aid, and
wherein the second good protruding beyond the first loading space
is placed in the second loading space of the second loading aid, if the second good is required to complete an order comprising the first good and the second good, or
is completely returned into the first loading space of the first loading aid, if the second good is not required to complete an order comprising only the first good from the first loading aid.
25. The method according to claim 1 , wherein additionally both after the gripping of the first good from or out of the first loading aid by the gripping unit and after the placing of the first good in or on the second loading aid by the gripping unit, detecting the second loading space and the goods located within the second loading space by the sensor system, and checking whether the first good protrudes beyond one of the first loading space and the second loading space, and
a) the first good protruding beyond the one of the first loading space and the second loading space is gripped by the gripping unit and placed at a different position, or
b) the part of the first good protruding beyond the one of the first loading space and the second loading space is moved into the one of the first loading space and the second loading space by the gripping unit,
if the outcome of a check is positive.
26. The method according to claim 1 , wherein
a first group of actions comprises the gripping of the first good from or out of the first loading aid by the gripping unit and a detecting of the second loading space and the goods located within the second loading space by the sensor system,
a second group of actions comprises the placing of the first good in or on the second loading aid by the gripping unit and the detecting of the first loading space and the goods located within the first loading space by the sensor system, and
the first group of actions occurs in each of a plurality of first time periods and the second group of actions occurs in each of a plurality of second time periods different from and alternating with the first time periods.
27. The method according to claim 26 , wherein
the first group of actions further comprises a correction regarding the second good protruding beyond the first loading space according to step a) or step b) and the second group of actions further comprises a correction regarding the first good protruding beyond the second loading space,
the correction regarding the second good protruding beyond the first loading space according to step a) or step b) in one of the first time periods is based upon a previous detection of the first loading space in one of the second time periods preceding the one of the first time periods, and
the correction regarding the first good protruding beyond the second loading space in one of the second time periods is based upon a previous detection of the second loading space in one of the first time periods preceding the one of the second time periods.
28. A robot system, comprising
a robot having a gripping unit movable in relation to a robot base and designed for gripping goods from or out of a first loading aid and placing the goods in or on a second loading aid by the gripping unit, wherein the first and second loading aids each is suitable for the transport of the goods, wherein a first loading space is assigned to the first loading aid and a second loading space is assigned to the second loading aid and wherein the first loading space and the second loading space are each intended for accommodating the goods and are located within the operating range of the robot,
a sensor system for detecting a first loading space assigned to the first loading aid, and
a controller configured to check, after the gripping of a first good from or out of the first loading aid by the gripping unit, whether a second good of the goods other than the first good so gripped is unintentionally taken along or pulled along when moving the gripping unit out of the first loading aid and protrudes beyond the first loading space and to command, upon a positive outcome of the check, the robot to
a) grip the second good protruding beyond the first loading space and to place it at a different position, or
b) move the part of the second good that is protruding beyond the first loading space into the first loading space.
29. The robot system according to claim 28 , wherein the sensor system comprises a camera and/or a room depth sensor and/or a laser scanner and/or an ultrasonic sensor.
30. The robot system according to claim 28 , wherein the gripping unit comprises at least one suction gripper.
31. The robot system according to claim 28 , wherein the robot is designed as a jointed-arm robot or a gantry robot.
32. A storage and order-picking system for order-picking of goods, comprising a storage area for storing goods and a working area for picking/repacking goods using the robot system according to claim 28 .
33. The storage and order-picking system according to claim 32 , further comprising:
a first conveying device for transporting goods in or on the first loading aid to the robot and away from the robot, and
a second conveying device for transporting goods in or on the second loading aid to the robot and away from the robot,
wherein the robot is arranged in the working area and designed for gripping at least one good from or out of the first loading aid for an order and to place the at least one good in or on the second loading aid for this order, and
wherein the working area is designed for the fully automated order-picking of goods.
34. The robot system according to claim 28 , wherein
the controller additionally being configured to trigger a first group of actions in each of a plurality of first time periods and a second group of actions in each of a plurality of second time periods different from and alternating with the first time periods,
wherein
the first group of actions comprises the gripping of the first good from or out of the first loading aid by the gripping unit and a detecting of the second loading space and the goods located within the region of the second loading space by the sensor system, and
the second group of actions comprises the placing of the first good in or on the second loading aid by the gripping unit and the detecting of the first loading space and the goods located within the region of the first loading space by the sensor system.
35. The robot system according to claim 34 , wherein
the first group of actions further comprises a correction regarding the second good protruding beyond the first loading space according to step a) or step b) and the second group of actions further comprises a correction regarding the first good protruding beyond the second loading space,
the correction regarding the second good protruding beyond the first loading space according to step a) or step b) in one of the first time periods is based upon a previous detection of the first loading space in one of the second time periods preceding the one of the first time periods, and
the correction regarding the first good protruding beyond the second loading space in one of the second time periods is based upon a previous detection of the second loading space in one of the first time periods preceding the one of the second time periods.