ROBOT SYSTEM FOR TESTING A LOADING SPACE OF A LOADING AID IN A STORAGE AND ORDER-PICKING SYSTEM AND OPERATING METHOD THEREFOR

Abstract

A robot system (2a . . . 2d) is specified, which comprises a robot (1a, 1b) having a gripping unit (4) for collecting goods (23a . . . 23n) and a sensor system (8a . . . 8e) for detecting a loading space (27a . . . 27d) of a loading aid (9a . . . 9e) and the goods (23a . . . 23n) stored therein. After the collection of a good (23a . . . 23n), a check is conducted with the aid of a controller (11) on whether a good (23a . . . 23n) protrudes beyond the loading space (27a . . . 27d). If necessary, the good (23a . . . 23n) protruding beyond the loading space (27a . . . 27d) is collected and placed down at a different position, or the part of the good (23a . . . 23n) protruding beyond the loading space (27a . . . 27d) is moved into the loading space (27a . . . 27d). Moreover, a method for operating the robot system (2a . . . 2d) is specified.

Claims

1. A method for controlling a robot (1a, 1b) in a storage and order-picking system (12), said robot (1a, 1b) comprising a gripping unit (4) movable in relation to the robot base (3), in which the goods (23a . . . 23n) are collected from or out of a first goods carrier (9a, 9c, 9e, 10a, 16, 21) and are placed down in or on a second goods carrier (9b, 9d, 10b, 17a, 17b, 22) by means of the gripping unit (4), wherein at least one of the goods carriers is designed as a loading aid (9a . . . 9e) suitable for the transport of the goods (23a . . . 23n), wherein: in the region of the at least one loading aid (9a . . . 9e), a loading space (27a . . . 27d) is defined, which is intended for accommodating the goods (23a . . . 23n), the loading space (27a . . . 27d) and the goods (23a . . . 23n) located within the region of the loading space (27a . . . 27d) are detected with the aid of a sensor system (8a . . . 8e), after collection of a good (23a . . . 23n) from or out of the first goods carrier (9a, 9c, 9e, 10a, 16, 21) by means of the gripping unit (4), a check is performed whether a good (23a . . . 23n) protrudes beyond said loading space (27a . . . 27d) and a) the good (23a . . . 23n) protruding beyond the loading space (27a . . . 27d) is collected by the gripping unit (4) and placed down at a different position or b) the part of the good (23a . . . 23n) protruding beyond the loading space (27a . . . 27d) is moved into the loading space (27a . . . 27d) by the gripping unit (4), if the outcome of said check is positive.

2. The method according to claim 1, wherein, for placing down a good (23a . . . 23n) in or on the second goods carrier (9b, 9d, 10b, 17a, 17b, 22), a position within the loading space (27a . . . 27d) is calculated, at which said good (23a . . . 23n) likely does not protrude beyond said loading space (27a . . . 27d).

3. The method according to claim 1, wherein the loading aid (9a . . . 9e) used comprises a container bottom (24), side walls (25) rising up from it and a loading opening (26) bounded by the side walls (25), and the loading space (27a) is bounded towards the top by said loading opening (26).

4. The method according to claim 1, wherein the loading aid (9a . . . 9e) used comprises a container bottom (24), side walls (25) rising from it and a loading opening (26) bounded by the side walls (25), and the loading space (27b) upwardly protrudes beyond said loading opening (26).

5. The method according to claim 4, wherein the loading space (27c) protrudes laterally beyond the side walls (25) of the loading aid (9a . . . 9e).

6. The method according to claim 5, wherein the loading space (27d), in the section that protrudes beyond the side walls (25), extends downwards below the plane (28) of the loading opening (26).

7. The method according to claim 1, wherein there is an additional check on whether a good (23a . . . 23n) dropped from the gripping unit is located completely outside the loading space (27a . . . 27d).

8. The method according to claim 7, wherein: a check is conducted on whether the good (23a . . . 23n) that was dropped from the gripping unit (4) is located on a rest surface (29a, 29b) which is arranged to be adjacent to the first goods carrier (9a, 9c, 9e, 10a, 16, 21) and/or to the second goods carrier (9b, 9d, 10b, 17a, 17b, 22), and the good (23a . . . 23n) located on the rest surface (29a, 29b) is collected by the gripping unit (4) and is placed down i) in or on the first goods carrier (9a, 9c, 9e, 10a, 16, 21), or ii) in or on the second goods carrier (9b, 9d, 10b, 17a, 17b, 22), or iii) at a clearing place.

9. The method according to claim 7, wherein there is a check on whether the good (23a . . . 23n) dropped from the gripping unit (4) has dropped on the floor.

10. The method according to claim 1, wherein the check on whether a good (23a . . . 23n) protrudes beyond the loading space (27a . . . 27d), as well as the steps a) or b) are repeated recursively until the outcome of said check is negative.

11. The method according to claim 1, wherein the check on whether a good (23a . . . 23n) protrudes beyond a loading space (27a . . . 27d), as well as the steps a) or 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.

12. The method according to claim 1, wherein: the gripping/collection of a good (23a . . . 23n) from or out of the first goods carrier (9a, 9c, 9e, 10a, 16, 21) and a detection of the second goods carrier (9b, 9d, 10b, 17a, 17b, 22) and the goods (23a . . . 23n) located in or on the second goods carrier (9b, 9d, 10b, 17a, 17b, 22) with the aid of the sensor system (8a . . . 8e) and the placing down of a good (23a . . . 23n) in or on the second goods carrier (9b, 9d, 10b, 17a, 17b, 22) and a detection of the first goods carrier (9a, 9c, 9e, 10a, 16, 21) or the goods (23a . . . 23n) located in or on the first goods carrier (9a, 9c, 9e, 10a, 16, 21) with the aid of the sensor system (8a . . . 8e) takes place in alternation.

13. The method according to claim 1, wherein the check on whether a good (23a . . . 23n) protrudes beyond the loading space (27a . . . 27d) takes place after collecting a different good (23a . . . 23n) from or out of the first goods carrier (9a, 9c, 9e, 10a, 16, 21).

14. The method according to claim 1, wherein the first goods carrier is formed as a first loading aid (9a, 9c, 9e) and the second goods carrier is formed as a second loading aid (9b, 9d), and in the region of the first loading aid (9a, 9c, 9e), a loading space (27a . . . 27d) is defined, which is intended for accommodating goods (23a . . . 23n), and in the region of the second loading aid (9b, 9d), a further loading space (27a . . . 27d) is defined, which is intended for accommodating goods (23a . . . 23n), the loading spaces (27a . . . 27d) and the goods (23a . . . 23n) located in the region of the loading spaces (27a . . . 27d) of the first loading aid (9a, 9c, 9e) and of the second loading aid (9b, 9d) are each detected by means of the sensor system (8a . . . 8e), both after the collection of a good 23a . . . 23n) from or out of the first loading aid (9a, 9c, 9e) by means of the gripping unit (4) and after the placing down of the good (23a . . . 23n) in or on the second loading aid (9b, 9d) by means of the gripping unit (4), a check takes place on whether a good (23a . . . 23n) protrudes beyond one of the loading spaces (27a . . . 27d), and a) the good (23a . . . 23n) protruding beyond said loading space (27a . . . 27d) is collected by the gripping unit (4) and placed down at a different position, or b) the part of the good (23a . . . 23n) protruding beyond said loading space (27a . . . 27d) is moved into the loading space (27a . . . 27d) by means of the gripping unit (4) if the outcome of said check is positive.

15. The method according to claim 1, wherein the check on whether a good (23a . . . 23n) protrudes beyond a loading space (27a . . . 27d) takes place after the gripping unit (4) and/or the good (23a . . . 23n) collected by the gripping unit (4) has been completely moved out of the loading space (27a . . . 27d).

16. The method according to claim 1, wherein the check on whether a good (23a . . . 23n) protrudes beyond the loading space (27a . . . 27d) takes place after the gripping unit (4) and/or the good (23a . . . 23n) collected by the gripping unit (4) has been completely moved out of a detection region of the sensor system (8a . . . 8e).

17. The method according to claim 1, wherein the check on whether a good (23a . . . 23n) protrudes beyond the loading space (27a . . . 27d) takes place after completely moving the gripping unit (4) and the good (23a . . . 23n) collected by the gripping unit (4) laterally away from a goods carrier (9a . . . 9d, 10a, 10b, 16, 17a, 17b, 21, 22).

18. The method according to claim 1, wherein the check on whether a good (23a . . . 23n) protrudes beyond said loading space (27a . . . 27d) is performed after each collection of a good (23a . . . 23n).

19. The method according to claim 1, wherein the check on whether a good (23a . . . 23n) protrudes beyond said loading space (27a . . . 27d) is performed after each placing down of a good (23a . . . 23n) in or on the second goods carrier (9b, 9d, 10b, 17a, 17b, 22).

20. The method according to claim 1, wherein the check on whether a good (23a . . . 23n) protrudes beyond said loading space (27a . . . 27d) takes place after placing down a plurality of goods (23a . . . 23n) in or on the second goods carrier (9b, 9d, 10b, 17a, 17b, 22).

21. The method according to claim 1, wherein an occupied status of the gripping unit (4) after the collection of a good (23a . . . 23n) is monitored and the check on whether a good (23a . . . 23n) protrudes beyond the loading space (27a . . . 27d) is performed upon recognition of an unoccupied but activated gripping unit (4).

22. The method according to claim 1, wherein, according to an order, the goods (23a . . . 23n) are transported to the robot (1a, 1b) with the aid of the first goods carrier (9a, 9c, 9e, 10a, 16, 21), are transferred from or out of the first goods carrier (9a, 9c, 9e, 10a, 16, 21) into or onto the second goods carrier (9b, 9d, 10b, 17a, 17b, 22) with the aid of the robot (1a, 1b), and are transported away from the robot (1a, 1b) with the aid of the second goods carrier (9b, 9d, 10b, 17a, 17b, 22).

23. A robot system (2a . . . 2d), comprising a robot (1a, 1b) having a gripping unit (4) movable in relation to a robot base (3) for collecting goods (23a . . . 23n), wherein the robot (1a, 1b) is designed for collecting goods (23a . . . 23n) from or out of a first goods carrier (9a, 9c, 9e, 10a, 16, 21) and placing these down in or on a second goods carrier (9b, 9d, 10b, 17a, 17b, 22) by means of the gripping unit (4), wherein at least one of the goods carriers is formed as a loading aid (9a . . . 9e) suitable for the transport of the goods (23a . . . 23n), and a sensor system (8a . . . 8e) for detecting a loading space (27a . . . 27d) of the at least one loading aid (9a . . . 9e), which is intended for accommodating the goods (23a . . . 23n) and which is located within the operating range of said robot (1a, 1b), wherein: a controller (11) which is configured to check, after the collection of a good (23a . . . 23n) from or out of the first goods carrier (9a, 9c, 9e, 10a, 16, 21) by means of the gripping unit (4), whether a good (23a . . . 23n) protrudes beyond said loading space (27a . . . 27d) and to command, upon a positive outcome of the check, the robot (1a, 1b) to a) collect the good (23a . . . 23n) protruding beyond the loading space (27a . . . 27d) and to place it down at a different position, or b) move the part of the good (23a . . . 23n) that is protruding beyond the loading space (27a . . . 27d) into the loading space (27a . . . 27d).

24. The robot system (2a . . . 2d) according to claim 23, wherein the sensor system (8a . . . 8e) comprises a camera and/or a room depth sensor and/or a laser scanner and/or an ultrasonic sensor.

25. The robot system (2a . . . 2d) according to claim 23, wherein the gripping unit (4) comprises at least one suction gripper (5).

26. The robot system (2a . . . 2d) according to claim 23, wherein the robot (1a, 1b) is designed as a jointed-arm robot or a gantry robot.

27. A storage and order-picking system (12) for order-picking of goods (23a . . . 23n), comprising a storage area (18) for storing goods (23a . . . 23n) and a working area for picking/repacking goods (23a . . . 23n) using a robot system (2a . . . 2d), characterized in that said robot system (2a . . . 2d) is designed according to claim 23.

28. The storage and order-picking system (12) according to claim 27, wherein the working area is designed for the fully automated order-picking of goods (23a . . . 23n), and a first conveying device for transporting goods (23a . . . 23n) in or on first goods carriers (9a, 9c, 9e, 10a, 16, 21) is arranged between the storage area (18) and the robot (1a, 1b) in the working area, and/or a second conveying device for transporting goods (23a . . . 23n) in or on second goods carriers (9b, 9d, 10b, 17a, 17b, 22) is provided between the storage area (18) and the robot (1a, 1b) in the working area, wherein the robot (1a, 1b) is designed for collecting at least one good (23a . . . 23n) from or out of the first goods carrier (9a, 9c, 9e, 10a, 16, 21) for an order and to place the at least one good (23a . . . 23n) in or on the second goods carrier (9b, 9d, 10b, 17a, 17b, 22) for this order.

Description

[0082] These show in a respectively very simplified schematic representation:

[0083] FIG. 1 a first, simplified example of a robot system having a robot and a stationarily installed camera system in an oblique view;

[0084] FIG. 2 similar to FIG. 1, but with a movable camera system having a camera mounted on a robot arm segment of the robot;

[0085] FIG. 3 a schematically shown example of a storage and order-picking system in a top view;

[0086] FIG. 4 a container having a loading space which is bounded towards the top by a loading opening of the container;

[0087] FIG. 5 a container having a loading space which protrudes upwardly beyond the loading opening;

[0088] FIG. 6 a container having a loading space which laterally protrudes beyond the side walls of the container;

[0089] FIG. 7 a container having a loading space which, in the section protruding beyond the side walls, extends downwards below the plane of the loading opening;

[0090] FIG. 8 a container having a loading space according to FIG. 5 and cuboidal goods stored therein;

[0091] FIG. 9 a container having a loading space according to FIG. 6 and cuboidal goods stored therein;

[0092] FIG. 10 a container having a loading space according to FIG. 4 and cuboidal goods stored therein;

[0093] FIG. 11 a container having a loading space according to FIG. 4 with a flexurally limp good hanging over the container edge;

[0094] FIG. 12 a container having a loading space according to FIG. 4 and flexurally limp goods stored therein;

[0095] FIG. 13 an arrangement with two containers and a rest surface in the region of these containers, on which rest surface lies a good;

[0096] FIG. 14 the arrangement according to FIG. 13, however, in a condition in which the good has been removed from the rest surface;

[0097] FIG. 15 an arrangement with four containers and a rest surface in the region of these containers, on which rest surface lies a good;

[0098] FIG. 16 the arrangement according to FIG. 15, however, in a condition in which the good has been removed from the rest surface;

[0099] FIG. 17 an example for a pivotable flap arranged between a first and second container;

[0100] First of all, it is to be noted that in the different embodiments described, equal parts are provided with equal reference numbers and/or equal component designations, where the disclosures contained in the entire description may be analogously transferred to equal parts with equal reference numbers and/or equal component designations. Moreover, the specifications of location, such as at the top, at the bottom, at the side etc., chosen in the description refer to the directly described and depicted figure and, in case of a change of position, are to be analogously transferred to the new position.

[0101] FIG. 1 shows a robot 1a in a robot system 2a. The robot 1a comprises a gripping unit 4 which is movable in relation to a robot base 3 and which comprises three suction grippers 5 spaced apart from one another in this example. The gripping unit 4 is connected to the robot base 3 in an articulated manner via a robot arm comprising two arm segments 6 and 7. Moreover, FIG. 1 shows a sensor system 8a . . . 8d, which serves for the detection of the goods carriers 9a and 9b as well as the goods lying therein and, in the present example, comprises two cameras 8a, 8b and two further optional cameras 8c, 8d. However, the goods are not visible in FIG. 1 since they are stored in the goods carriers 9a and 9b, which are designed as containers in this example. The container 9a is a source container from which goods are collected/removed by the gripping unit 4, and the container 9b is a target container, into which goods are placed down/thrown by the gripping unit 4.

[0102] The cameras 8a, 8b are arranged above the containers 9a and 9b and are each designed as a stereo camera in this example. Accordingly, the cameras 8a, 8b detect a three-dimensional image of the inside of at least the containers 9a and 9b and the goods stored therein. In general, it would also be possible that merely the camera 8a (stereo camera) is provided above the container 9a or merely the camera 8b (stereo camera) is provided above the container 9b. Furthermore, it is conceivable that merely one common camera 8a (stereo camera) is provided for the containers 9a and 9b. Although stereo cameras are used in a preferred embodiment, the cameras 8a, 8b could also be designed as a camera for detecting a two-dimensional image of the inside of at least the containers 9a and 9b and the goods stored therein.

[0103] The containers 9a and 9b as well as the goods protruding beyond them can also be detected from the side by means of the two optional cameras 8c, 8d. The specific purpose of the optional cameras 8c, 8d is elucidated in detail with the aid of FIGS. 6 and 7. The position and orientation of the two optional cameras 8c, 8d depicted in FIG. 1 is to be understood purely for illustrative purposes and other positions and orientations for the two optional cameras 8c, 8d are conceivable.

[0104] The arrangement shown in FIG. 1 further comprises a conveying device for transporting the containers 9a, 9b to the robot system 2a and for transporting the containers 9a, 9b away from the robot system 2a. In particular, the conveying device comprises a first conveying path 10a for transporting the containers 9a, 9b to the robot system 2a and a second conveying path 10b for transporting the containers 9a, 9b away from the robot system 2a.

[0105] Finally, the arrangement depicted in FIG. 1 comprises a controller 11 which is connected with the cameras 8a . . . 8d and the robot 1a and particularly serves for checking whether a good protrudes beyond a loading space of the containers 9a and 9b. Furthermore, the controller 11 serves for controlling the movement of the gripping unit 4 according to a predefined transfer operation.

[0106] FIG. 2 shows a robot system 2b which is very similar to the robot system 2a shown in FIG. 1. In contrast, however, no cameras 8a . . . 8d are arranged above and on the side of the containers 9a and 9b, but a single camera 8e is arranged directly on the second arm segment 7 of the robot 1b. This camera 8e is also connected to a controller 11 (connection not shown). Furthermore, the camera 8e can, in turn, be designed as a stereo camera to detect a three-dimensional image of the containers 9a and 9b as well as the goods stored therein, for example, by the camera 8e being moved above the container 9a or above the container 9b by means of the robot 1a and an image being detected there. However, it would also be conceivable that the camera 8e is designed merely for detecting a two-dimensional image, and a three-dimensional image of the containers 9a and 9b as well as of the goods stored therein is generated by detecting multiple two-dimensional images during a movement of the camera 8e and subsequent calculation of the three-dimensional image. Furthermore, the camera 8e can also be positioned such that the containers 9a, 9b as well as the goods protruding beyond them can also be detected from the side. At this point, it should also be noted that the camera 8e can also be combined with the cameras 8a . . . 8d of the robot system 1a of FIG. 1.

[0107] FIG. 3 shows a storage and order-picking system 12 comprising a building 13 as well as a gate at an incoming goods department 14 and a gate at an outgoing goods department 15. In the region of the incoming goods department 14, there is a first conveying path 16 and two second conveying paths 17a and 17b. The first conveying path 16 connects the incoming goods department 14 to a robot system 2c. The two second conveying paths 17a and 17b connect the robot system 2c to a storage area 18, which comprises multiple storage racks 19 as well as storage-and-retrieval units 20a and 20b, which move in rack aisles running between the storage racks 19. At that end of the rack aisles, which is opposite to the second conveying paths 17a and 17b, there is a third conveying path 21, which is designed annularly and leads to a further robot system 2d in the present example. A fourth conveying path 22, which connects the robot system 2d to the outgoing goods department 15 in terms of conveyor technology, is arranged in the operating range of the robot system 2d as well.

[0108] FIG. 4 now shows the container 9a in detail. The container 9a comprises a container bottom 24, side walls 25 rising up from it and a loading opening 26 bounded by the side walls 25. Furthermore, the container 9a has a loading space 27a which is bounded towards the top by said loading opening 26.

[0109] FIG. 5 now shows the container 9a having a loading space 27b which protrudes upwardly beyond said loading opening 26, specifically beyond the plane 28 of the loading opening 26.

[0110] FIG. 6 shows the container 9a further having a loading space 27c which, on the one hand, protrudes upwardly beyond said loading opening 26, but on the other hand, also protrudes laterally beyond the side walls 25.

[0111] FIG. 7 finally shows the container having a loading space 27d which not only protrudes upwardly beyond said loading opening 26 and laterally beyond the side walls 25, but also, in the section protruding beyond the side walls 25, extends downwards below the plane 28 of the loading opening 26.

[0112] The loading aid 9a shown in FIGS. 4 to 7 is designed as a container, concretely, for example, as a cardboard box, carton or box. However, it is also generally conceivable that the loading aid used in the presented method is designed as a pallet or tray. Since a tray usually has (low) side walls, it can also be understood as a container.

[0113] FIG. 8 shows the container 9a loaded with cuboidal goods 23f, all of which are not located within the loading space 27a (represented in dashed lines), as the topmost good 23f protrudes beyond the plane 28 of the container opening 26. The loading depicted in FIG. 8 is therefore not permissible for the loading space 27a. However, all of the goods 23f are located within the loading space 27b (represented in dotted fashion) although the topmost good 23f protrudes beyond the plane 28 of the container opening 26. The loading depicted in FIG. 8 is therefore permissible for the loading space 27b. The representation makes clear that the loading space 27b has a larger volume than the volume enclosed by the container bottom 24, the side walls 25 and the container opening 26, and that the container 9a is loaded more heavily than it is the case in automated storage and order-picking systems according to the prior art. According to the prior art, containers 9a are actually only loaded at maximum up to the plane 28 of the container opening 26. Consequently, the performance of a storage and order-picking system 12, in which containers 9a with relatively large loading spaces 27b, 27c and 27b in terms of volume are used, is increased with respect to conventional storage and order-picking systems.

[0114] FIG. 9 shows the container 9a loaded with cuboidal goods 23f, all of which are not located within the loading space 27a (represented in dashed lines), as the topmost good 23f protrudes beyond the plane 28 of the container opening 26. The loading depicted in FIG. 9 is therefore not permissible for the loading space 27a. The topmost good 23f furthermore protrudes beyond the loading space 27b (represented in a dotdashed fashion). The loading depicted in FIG. 9 is therefore also not permissible for the loading space 27b. However, FIG. 9 shows a loading space 27c (represented in dotted fashion) which protrudes laterally beyond the side walls 25. Although the topmost good 23f protrudes laterally beyond the container wall 25, it is still located within the loading space 27c and therefore causes no negative outcome of the check on whether all goods 23f are located within the loading space 27c.

[0115] FIG. 10 further shows the container 9a loaded with goods 23f, but with a loading space 27a extending only to the loading opening 26. Here, as well, all goods 23f are arranged within the loading space 27a and therefore cause no negative outcome of the check on whether all goods 23f are located within the loading space 27a.

[0116] FIG. 11 shows the container 9a loaded with goods 23g, which, again, has a loading space 27a extending only to the loading opening 26. In this example, a flexurally limp good 23g hangs over the container edge, whereby the check on whether all goods 23g are located within the loading space 27a has a negative result. In the case of a loading space which, in the section protruding beyond the side walls 25, extends downwards below the plane 28 of the loading opening 26, as it is depicted in FIG. 7 for the loading space 27d, it would, however, be conceivable that the result of the aforementioned check is positive, provided that the loading space for the good 23g is formed to be large enough.

[0117] From FIG. 11, it can particularly also be seen that the suggested method and/or the suggested robot system 2a . . . 2d as well as the suggested storage and order-picking system 12 are not only suited for the manipulation of more or less rigid and cuboidal bodies (goods 230, but also for the manipulation of flexurally limp and irregularly shaped goods 23g.

[0118] Finally, FIG. 12 shows a container 9a loaded with the irregularly shaped goods 23g in which container 9a all goods 23g are located within the loading space 27a extending to the loading opening 28. The check on whether all goods 23g are located within the loading space 27a therefore, again, has a positive result.

[0119] FIGS. 4 to 12 refer to the container 9a. Of course, the disclosed teaching can also be unrestrictedly applied to the containers 9b . . . 9e.

[0120] FIG. 13 shows an arrangement with two containers 9a and 9b as well as a rest surface 29a which extends between said containers 9a, 9b and partially around the containers 9a, 9b. This way, a good 23j inadvertently dropped from the gripping unit 4 can be prevented from falling onto the floor. Instead, the good 23j falls onto the rest surface 29a as it is depicted in FIG. 13. The good 23j can be collected from this rest surface 29a and be placed down in either the first container 9a or in the second container 9b. FIG. 14 shows the arrangement from FIG. 13 in a condition in which the good 23j has been placed down in the second container 9b.

[0121] FIG. 15 shows an arrangement with four containers 9a . . . 9d and a rest surface 29b, which arrangement is very similar to the arrangement shown in FIGS. 13 and 14. However, in contrast to these, not two containers 9a and 9b are present, but rather four containers 9a . . . 9d. The rest surface 29b extends in a cruciform manner between the containers 9a 9d. In this example, on the other hand, it is presumed that a good 23m was dropped inadvertently from the gripping unit 4 onto the rest surface 29b. The good 23m can be collected from said rest surface 29b and be placed down in one of the containers 9a . . . 9d. FIG. 16 shows the arrangement from FIG. 15 in a condition in which the good 23m has been placed down in the container 9c.

[0122] The rest surfaces 29a, 29b shown in FIGS. 13 to 16 can be formed by horizontal surfaces (and possibly form a clearing place), however, they can also be inclined towards one of the containers 9a . . . 9d. This way, goods 23a . . . 23n dropped from the gripping unit 4 automatically slide to one of the predefined places. Inclined rest surfaces 29a, 29b primarily serve for automatically conveying goods 23a . . . 23n inadvertently dropped from the gripping unit 4 to one of the predefined places. However, it is also conceivable that the goods 23a . . . 23n are intentionally dropped onto an inclined rest surface 29a, 29b or placed down thereon, in order to automatically convey the goods 23a . . . 23n to one of the predefined places. In doing so, it is advantageous that the distance traveled by the gripping unit 4 during the transfer of goods 23a . . . 23n can be reduced.

[0123] FIG. 17 now shows an example of a flap 31 arranged between first container 9a and a second container 9b and pivotable about a rotation axis 30. This way, a good 23n inadvertently dropped from the gripping unit 4 can be conveyed into the second container 9b in an aimed manner by elevating the flap 31. In order to achieve this, the flap 31 can have its own pivot drive, or the elevating of the flap 31 is performed by the robot 1a, 1b itself. Advantageously, the good 23n (which is possibly difficult to collect/grip) does not require to be gripped by the gripping unit 4 for this.

[0124] It is also conceivable that the flap 31, alternatively or additionally, can be inclined towards the first container 9a. Furthermore, it is conceivable that the flap 31, alternatively or additionally, can be inclined towards a rest position/a clearing place and/or a container that is placed there. Moreover, it is conceivable that the horizontally oriented flap 31 itself forms the clearing place.

[0125] At this point, it is noted that the rest surface 29a shown in FIGS. 13 and 14, the rest surface 29b shown in FIGS. 15 and 16 as well as the flap 31 shown in FIG. 17 can also be used in a robot system 2a, 2b according to FIGS. 1 and 2 as well as in a storage and order-picking system 12 according to FIG. 3. Additionally, it is of course also possible that the rest surface 29a, 29b extends around the containers 9a . . . 9d and surrounds them, so that the risk of a good 23a . . . 23n falling on the floor is even smaller.

[0126] The function of the arrangements shown in the figures is now explained in detail below:

[0127] FIGS. 1 and 2 show the process when transferring goods 23a . . . 23n from a first goods carrier 9a (source container) into a second goods carrier 9b (target container) with the aid of the gripping unit 4. The goods carriers 9a and 9b formed as box-shaped containers are transported to the robot 1a, 1b by means of the conveying devices 10a and 10b for the transfer operation and transported away from the robot 1a, 1b after the transfer operation. However, the transport of the goods 23a . . . 23n with the aid of loading aids 9a and 9b is no necessary requirement, but the goods 23a . . . 23n can also be transported directly on the conveying devices if these, for example, comprise a belt conveyor, a modular belt conveyor and the like as the first conveying path 10a and a belt conveyor, a modular belt conveyor and the like as the second conveying path 10b. Of course, roller conveyors 10a and 10b could be provided as well. Likewise, other loading aids such as trays or cardboard boxes, could be provided in place of the containers 9a and 9b.

[0128] If in the region of the robot system 2a . . . 2d, loading aids (containers, trays, cardboard boxes) from which or out of which goods 23a . . . 23n are removed by means of the suction grippers 5, are used as first object carriers 10a, the (source) loading aids can advantageously be loaded with goods 23a . . . 23n of just one type or be loaded in a compartmentalized manner with goods 23a . . . 23n of just one type. For example, a first loading aid contains the good A, a second loading aid the good B and so on. As opposed to this, it is also possible that a loading aid is divided into multiple receiving compartments by means of dividing walls and can accommodate different goods A, B, wherein a good A can be accommodated in the first receiving compartment and a good B can be accommodated in the second receiving compartment.

[0129] FIG. 3 shows a fairly more complex arrangement, in specific terms a storage and order-picking system 12. In this regard, goods 23a . . . 23e are delivered to the incoming goods department 14, loaded onto the first conveying path 16, transferred from the first conveying path 16 to the second conveying paths 17a and 17b by the robot system 2c and stored in the storage racks 19 by means of the storage-and-retrieval units 20a and 20b. The first conveying path 16 in this operation acts as the first goods carrier and/or the source, whereas the second conveying paths 17a and 17b in this operation act as the second goods carrier and/or the target.

[0130] When a picking order is to be processed, the goods 23a . . . 23e assigned to the order are removed from at least one storage rack 19 with the aid of at least one storage-and-retrieval unit 20a and 20b and transferred to the third conveying path 21. Then, the goods 23a . . . 23e are transported to the robot system 2d with the aid of the third conveying path 21 and transferred from the third conveying path 21 to the fourth conveying path 22 by said robot system 2d and are lastly transported to the outgoing goods department 15 with the aid of the fourth conveying path 22. The third conveying path 21 in this operation acts as the first goods carrier and/or the source, whereas the fourth conveying path 22 in this operation act as the second goods carrier and/or the target.

[0131] As can be seen from FIG. 3, the goods 23a, 23b and 23e are transported directly on the conveying paths 16, 17a, 17b, 21 and 22 acting as goods carriers, whereas the goods 23c and 23d are transported with the aid of loading aids 9c . . . 9e, which accordingly also act as goods carriers. Thus, FIG. 3 shows a mixed type of transport. It would certainly also be conceivable that the goods 23a . . . 23e are transported solely on the conveying paths 16, 17a, 17b, 21 and 22 acting as goods carriers or solely with the aid of the loading aids 9c . . . 9e.

[0132] Of course, the design and arrangement of the conveying paths 16, 17a, 17b, 21 and 22 in FIG. 3 is to be considered only illustrative and other formations and arrangements of the mentioned conveying paths 16, 17a, 17b, 21 and 22 are also conceivable. In particular, an annular conveying path could be arranged at the incoming goods department 14, or linear conveying paths could be provided at the outgoing goods department 15. The conveyor connection of the robot system 2c and 2d to the incoming goods department 14, to the storage area 18 and to the outgoing goods department 15 is not necessarily established via stationary conveying means, as shown in FIG. 3, but could also take place in whole or in part via autonomous transport vehicles (in particular autonomous floor conveyors), whose loading platforms then also serve as goods carriers.

[0133] It would further be conceivable that the goods 23a . . . 23e are loaded directly onto the storage-and-retrieval units 20a and 20b by the robot system 2c or are taken over directly from the storage-and-retrieval units 20a and 20b by the robot system 2d. In this case, the loading platforms of the storage-and-retrieval units 20a and 20b also serve as goods carriers.

[0134] At this point, it should also be noted that the robots 1a and 1b do not necessarily have to be designed as jointed-arm robots, but can also be designed for example as gantry robots.

[0135] It should also be noted that the goods 23a . . . 23n may be arranged in or on the first goods carrier 9a, 9c, 9e, 10a, 16, 21 next to each other, on top of each other, standing upright or lying down, thus disordered (chaotic) and/or in a random arrangement.

[0136] It should further be noted that the sensor system can not only comprise cameras 8a . . . 8e, but alternatively or additionally also a room depth sensor, a laser scanner and/or an ultrasonic sensor. With the aid of these sensors, in particular, a three-dimensional image of the goods 23a . . . 23n lying in or on a goods carrier (for example in the containers 9a . . . 9e or on the conveying paths 10a and 10b) can be detected.

[0137] In general, by the three-dimensional detection a surface structure of the goods 23a . . . 23n can be detected and the suitability for gripping by means of the suction grippers 5 can be determined. For example, highly convex surfaces are less suitable for gripping, whereas plane surfaces are particularly well grippable.

[0138] Generally, a check on whether a good 23a . . . 23n protrudes beyond said loading space 27a . . . 27d (see FIGS. 4 to 12) is performed during the above-described processes in a robot system 2a, 2b or in the storage and order-picking system 12, after the collection of a good 23a . . . 23n from or out of the first goods carrier 9a by means of a gripping unit 4. If the outcome of said check is positive, the good 23a . . . 23n protruding beyond the loading space 27a . . . 27d can, in a further step, be collected by the gripping unit 4 and be placed down at a different position (case a). This different position can be located, in particular, in the loading space 27a . . . 27d of the loading aid 9a, from which the good 23a . . . 23n in question was collected. The different position can, however, also be located within the loading space 27a . . . 27d of another loading aid 9b. Finally, it is also possible to place the good 23a . . . 23n down at a different position outside of a loading space 27a . . . 27d of a loading aid 9a, 9b, for example, at a clearing place. Alternatively, it is also possible to move the part of the good 23a . . . 23n that is protruding beyond the loading space 27a . . . 27d back into the loading space 27a . . . 27d by means of the gripping unit 4 (case b).

[0139] The outcome of said check can be positive, particularly if a good 23a . . . 23n inadvertently falls off the gripping unit 4, or a position calculated for the good 23a . . . 23n for placing down or throwing on the second goods carrier 9b proves to not be reached.

[0140] In the above procedures, it is particularly conceivable that the check on whether a good 23a . . . 23n protrudes beyond a loading space 27a . . . 27d as well as the steps a) or b) are repeated recursively until the outcome of said check is negative. In the course of this, it is assumed that the robot system 2a . . . 2d is principally able to rectify errors that have occurred.

[0141] However, it would also be particularly conceivable that the check on whether a good 23a . . . 23n protrudes beyond a loading space 27a . . . 27d as well as the steps a) or 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. In this variant, an operator is involved, if necessary, to solve the problem that has occurred.

[0142] Generally, the inadvertent dropping of a good 23a . . . 23n can be detected by monitoring an occupied status of the gripping unit 4 after the collection of a good 23a . . . 23n. The unwanted dropping of a good 23a . . . 23n is characterized in that the gripping unit 4 is unoccupied but activated. Consequently, the check on whether a good 23a . . . 23n protrudes beyond a loading space 27a . . . 27d is initiated. In the event that the gripping unit 4, however, is occupied and activated, a good 23a . . . 23n is held by the gripping unit 4. In the event that the gripping unit 4 is unoccupied and deactivated, a good 23a . . . 23n was placed down or dropped deliberately and/or intentionally. The monitoring of the occupied status of the gripping unit 4 can, for example, be carried out by a sensor technology on the gripping unit 4, which sensor technology is specifically designed for this (not depicted). The monitoring of the occupied status of the gripping unit 4 can, however, also be carried out by the sensor system 8a . . . 8e which is provided for detecting the loading space 27a . . . 27d and the goods 23a . . . 23n located in the region of the loading space 27a . . . 27d (i. e. in the example with the cameras 8a . . . 8e shown in FIGS. 1 and 2).

[0143] Furthermore, it is favorable if the check on whether a good 23a . . . 23n protrudes beyond a loading space 27a . . . 27d takes place after the gripping unit 4 and/or the good 23a . . . 23n collected by the gripping unit 4 has been completely moved out of the loading space 27a . . . 27d. If said check takes place after the good 23a . . . 23n has been collected, the gripping unit 4 including the good 23a . . . 23n held therewith should therefore have been completely moved out of the loading space 27a . . . 27d before the check. If said check takes place after the good 23a . . . 23n has been placed down, only the gripping unit 4 (which now does not hold any more goods 23a . . . 23n) has to have been moved out of the loading space 27a . . . 27d before the check. Furthermore, it is advantageous if the check on whether a good 23a . . . 23n protrudes beyond the loading space 27a . . . 27d takes place after the gripping unit 4 and/or the good 23a . . . 23n collected by the gripping unit 4 has been completely moved out of a detection region of the sensor system 8a . . . 8e. Moreover, it is advantageous if the check on whether a good 23a . . . 23n protrudes beyond the loading space 27a . . . 27d takes place after completely moving the gripping unit 4 and the good 23a . . . 23n collected by the gripping unit 4 laterally away from a goods carrier 9a . . . 9d, 10a, 10b, 16, 17a, 17b, 21, 22. These measures ensure that a static condition ensues in the loading space 27a . . . 27d, which condition is not disturbed by the transfer operation of the goods 23a . . . 23n. Accordingly, this also ensures that the check on whether a good 23a . . . 23n protrudes beyond the loading space 27a . . . 27d is valid.

[0144] Moreover, it is favorable if the check on whether a good 23a . . . 23n protrudes beyond said loading space 27a . . . 27d is performed after each collection of a good 23a . . . 23n. This allows to detect a good 23a . . . 23n protruding beyond the loading space 27a . . . 27d within a narrow time frame of the occurrence of the error, and the accumulation of the impacts of multiple errors occurring consecutively is avoided. The aforementioned measures relate particularly to the first goods carrier 9a (source).

[0145] Similarly, it is favorable if the check on whether a good 23a . . . 23n protrudes beyond said loading space 27a . . . 27d is performed after each placing down of a good 23a . . . 23n in or on the second goods carrier 9b. This allows to detect a good 23a . . . 23n protruding beyond the loading space 27a . . . 27d also within a narrow time frame of the occurrence of the error, and the accumulation of the impacts of multiple errors occurring consecutively is again avoided. These measures relate particularly to the second goods carrier 9b (target).

[0146] Finally, it is also advantageous of the check on whether a good 23a . . . 23n protrudes beyond a loading space 27a . . . 27d is performed after the placing down of a plurality of goods 23a . . . 23n (in particular, after the placing down of all goods 23a . . . 23n associated with an order) in or on the second goods carrier 9b. This allows to reduce the number of checks and thereby the computing effort and the computation time for them. This variant is therefore particularly suitable for robot systems 2a . . . 2d with a limited computational power.

[0147] Generally, a check can take place after the collection of the good 23a . . . 23n (but before placing the same down) and a further check can take place after placing down the good 23a . . . 23n. However, it is also conceivable that only one check takes place after placing down the good 23a . . . 23n (and therefore, chronologically after the collection of the good 23a . . . 23n).

[0148] It is also favorable if the check on whether a good 23a . . . 23n protrudes beyond the loading space 27a . . . 27d takes place after gripping/collecting a different good 23a . . . 23n from or out of the first goods carrier 9a. This variant relates to two cases in particular, namely if a different good 23a . . . 23n than the one that has been collected is dropped back into or onto the first goods carrier 9a, or if the gripping unit 4 has placed down a good 23a . . . 23n in or on the second goods carrier 9b, but prevents an optical detection of the second goods carrier 9b and the goods 23a . . . 23n stored therein. In the first case, a good 23a . . . 23n different from the one collected is inadvertently pulled along and can consequently protrude beyond the loading space 27a . . . 27d of the first goods carrier 9a. In the second case, a detection (particularly, an optical detection) of the second goods carrier 9b and the goods 23a . . . 23n stored therein can take place only once the gripping unit 4 is moved out of the region of the second goods carrier 9b.

[0149] The check on whether a good 23a . . . 23n protrudes beyond the loading space 27a . . . 27d can generally take place during the movement of the gripping unit 4 from the first goods carrier 9a to the second goods carrier 9b and vice versa, so that no noticeable waiting periods are caused by the check. Loading aids can therefore be dispatched immediately after the repacking or order-picking operation by means of a conveying device 10a, 10b.

[0150] In a particularly advantageous variant the gripping/collecting of a good 23a . . . 23n from or out of the first goods carrier 9a and a detection of the second goods carrier 9b and the goods 23a . . . 23n located in or on the second goods carrier 9b with the aid of the sensor system 8a . . . 8e and the placing down of a good 23a . . . 23n in or on the second goods carrier 9b and a detection of the first goods carrier 9a or the goods 23a . . . 23n located in or on the first goods carrier 9a with the aid of the sensor system 8a . . . 8e takes place in alternation.

[0151] This variant can be explained particularly well by reference to the robot system 1a of FIG. 1: [0152] In a first period of time, a good 23a . . . 23n is collected from the first goods carrier 9a. [0153] In a second period of time, the good 23a . . . 23n is placed down in the second goods carrier 9b. If necessary, a correction also takes place regarding goods 23a . . . 23n protruding beyond the loading space 27a . . . 27d of the second goods carrier 9b, according to cases a) or b). Additionally, in the second period of time, the first goods carrier 9a including the goods 23a . . . 23n stored therein is detected by the camera 8a. [0154] In a third period of time, the gripping unit 4 travels back to the first goods carrier 9a and collects a further good 23a . . . 23n from the first goods carrier 9a. If necessary, a correction takes place regarding goods 23a . . . 23n protruding beyond the loading space 27a . . . 27d of the first goods carrier 9a, according to cases a) or b). Additionally, in the third period of time, the second goods carrier 9b including the goods 23a . . . 23n stored therein is detected by the camera 8b. [0155] In a fourth period of time, the good 23a . . . 23n is placed down in the second goods carrier 9b. If necessary, a correction takes place, yet again, regarding goods 23a . . . 23n protruding beyond the loading space 27a . . . 27d of the second goods carrier 9b, according to cases a) or b). Additionally, in the fourth period of time, the first goods carrier 9a including the goods 23a . . . 23n stored therein is detected by the camera 8a. [0156] As a consequence, the procedures described for the even periods of time and odd periods of time are repeated as often as desired.

[0157] The camera image of the first goods carrier 9a including the goods 23a . . . 23n stored therein captured in the second period of time forms the basis for gripping a good 23a . . . 23n and the correction regarding a good 23a . . . 23n protruding beyond the loading space 27a . . . 27d of the first goods carrier 9a in the third period of time. The camera image of the second goods carrier 9b including the goods 23a . . . 23n stored therein captured in the third period of time forms the basis for placing down a good 23a . . . 23n and the correction regarding a good 23a . . . 23n protruding beyond the loading space 27a . . . 27d of the second goods carrier 9b in the fourth period of time. The procedures taking place in the odd periods of time and in the even periods of time therefore are repeated in alternation. As an addition, it is noted that the periods of time can be fully separate of each other but can also overlap temporally.

[0158] The above variant has been explained with reference to the robot system 2a. Naturally, however, it also unrestrictedly applies to the robot system 2b of FIG. 2 or to the storage and order-picking system 12 of FIG. 3.

[0159] By means of the proposed measures, a good 23a . . . 23n protruding beyond the loading space 27a . . . 27d of a loading aid 9a . . . 9e is recognized, whereby faults in conveying and manipulating in a storage and order-picking system 12 can be avoided, for instance if the loading aids 9a . . . 9e, during their transport, pass regions having a low vertical clearance, or if the loading aids 9a . . . 9e are subjected to high accelerations and/or vibrations and goods 23a . . . 23n protruding beyond a loading space 27a . . . 27d could fall out of or from the loading aid 9a . . . 9e. Therefore, the availability of a storage and order-picking system 12 is increased by means of the proposed measures. Additionally, the performance of the storage and order-picking system 12 can be significantly increased as compared to the prior art by means of the loading aids 9a . . . 9e that can be loaded up to a container edge and/or even beyond that. Therefore, they also require less installation space than has been the case to date.

[0160] Finally, it should also be noted that the scope of protection is determined by the claims. However, the description and the drawings are to be adduced for construing the claims. Individual features or feature combinations from the different exemplary embodiments shown and described may represent independent inventive solutions. The object underlying the independent inventive solutions may be gathered from the description.

[0161] In particular, it should also be noted that the devices shown may in reality comprise more or less components than those shown. In some cases, the shown devices and/or their components may not be depicted to scale and/or be enlarged and/or reduced in size.

LIST OF REFERENCE NUMBERS

[0162] 1a, 1b robot

[0163] 2a . . . 2d robot system

[0164] 3 robot base

[0165] 4 gripping unit

[0166] 5 suction gripper

[0167] 6 first robot arm segment

[0168] 7 second robot arm segment

[0169] 8a . . . 8e camera (sensor system)

[0170] 9a . . . 9e container (goods carrier)

[0171] 10a, 10b conveying device(s) (goods carrier)

[0172] 11 controller

[0173] 12 storage and order-picking system

[0174] 13 building wall

[0175] 14 incoming goods department

[0176] 15 outgoing goods department

[0177] 16 first conveying path (goods carrier)

[0178] 17a, 17b second conveying path (goods carrier)

[0179] 18 storage area

[0180] 19 storage rack

[0181] 20a, 20b storage-and-retrieval unit

[0182] 21 third conveying path (goods carrier)

[0183] 22 fourth conveying path (goods carrier)

[0184] 23a . . . 23n good(s)

[0185] 24 container bottom

[0186] 25 side wall

[0187] 26 loading opening

[0188] 27a-27d loading space

[0189] 28 plane of the loading opening

[0190] 29a, 29b rest surface

[0191] 30 rotation axis

[0192] 31 flap