Method of synchronizing a pickup of a handling device, a computer readable medium and a control device
A method of synchronizing a pickup of a handling device, a computer readable medium and a control device are disclosed. During movement, a pickup of a multi-axis handling device is synchronized with an object to be picked up which is carried along by a conveyor device. Furthermore, the pickup is synchronized with a moving conveyor device in order to put the object down onto the conveyor device. The pickup is synchronized along a computationally-determined polynomial path of at least the 3 rd order between a starting point and a destination point.
1. A method for synchronizing a pickup of a multi-axis handling device, comprising:
providing a pickup of a multi-axis handling device and a conveyor device;
synchronizing the pickup along a computationally-determined polynomial path of at least a 3rd order between a starting point and a destination point, wherein the polynomial path is a polynomial path of the 5th order;
moving the conveyor device;
picking up an object and carrying along the object by the conveyor device and/or
putting the object down onto the conveyor device,
defining the polynomial path via the starting point, the destination point, via a respective tangent vector in the starting and destination point and via a respective curvature vector in the starting and destination point;
allocating a direction pointing to the destination point to the starting point tangent vector during the synchronization of the pickup from a standstill; and
allocating a null vector to the starting point curvature vector.
2. The method as claimed in claim 1 , further comprising:
following the polynomial path via a speed profile with speed continuity.
3. The method as claimed in claim 2 , further comprising:
continuing a speed present in the starting point and to be expected in the destination point with continuity by the speed profile.
4. The method as claimed in claim 3 , wherein the speed to be continued with continuity is a speed of conveyance of the object to be picked up or put down in the destination point.
5. The method as claimed in claim 1 , further comprising:
following the polynomial path via an additional speed profile with continuity of acceleration.
6. The method as claimed in claim 5 , further comprising:
continuing an acceleration present at the starting point and to be expected at the destination point with continuity by the speed profile.
7. The method as claimed in claim 6 , wherein the acceleration to be continued at a constant rate is a conveyance acceleration of the object to be picked up or put down at the destination point.
8. The method as claimed in claim 1 , wherein the polynomial path is a two- or three-dimensional polynomial path.
9. The method as claimed in claim 2 , further comprising:
transforming coordinates of the pickup of the multi-axis handling device determined computationally for following the polynomial path via a kinematical transformation into the respective axis coordinates of the multi-axis handling device.
10. The method as claimed in claim 1 , wherein the method is used for packing objects by a multi-axis packaging machine, the multi-axis packaging machine being a picker.
11. A control device for controlling a pickup of a multi-axis handling device, the pickup being provided for picking up objects which are carried along by a conveyor device and/or for putting down objects already picked up which are to be put down onto the conveyor device,
wherein the control device is linked to a drive of the multi-axis handling device for outputting setting coordinates for the pickup,
wherein the control device is connected to devices for detecting distance and speed of the conveyor device or of the objects carried along on the conveyor device, and
wherein the control device features a processor-assisted control unit for executing a path synchronization program module storing a method for synchronizing a pickup of a multi-axis handling device, the method comprising:
synchronizing the pickup along a computationally-determined polynomial path of at least a 3rd order between a starting point and a destination point, wherein the polynomial path is a polynomial path of the 5th order;
defining the polynomial path via the starting point, the destination point, via a respective tangent vector in the starting and destination point and via a respective curvature vector in the starting and destination point;
allocating a direction pointing to the destination point to the starting point tangent vector during the synchronization of the pickup from a standstill; and
allocating a null vector to the starting point curvature vector.
12. A non-transitory computer readable medium storing a path synchronization program module for carrying out a method for synchronizing a pickup of a multi-axis handling device on a control device for controlling the pickup, the method comprising:
synchronizing the pickup along a computationally-determined polynomial path of at least a 3rd order between a starting point and a destination point, wherein the polynomial path is a polynomial path of the 5th order;
defining the polynomial path via the starting point, the destination point, via a respective tangent vector in the starting and destination point and via a respective curvature vector in the starting and destination point;
allocating a direction pointing to the destination point to the starting point tangent vector during the synchronization of the pickup from a standstill; and
allocating a null vector to the starting point curvature vector.
13. The non-transitory computer readable medium as claimed in claim 12 , the method further comprising:
following the polynomial path via a speed profile with speed continuity.
14. The non-transitory computer readable medium as claimed in claim 12 , the method further comprising:
continuing a speed present in the starting point and to be expected in the destination point with continuity by the speed profile.