Multiple suction cup control

摘要

Example embodiments may provide for control of a suction gripper with multiple suction cups. One example system includes a suction gripper and a control system. The suction gripper may include a vacuum pump, a plurality of suction cups coupled to the vacuum pump, and a plurality of sensors corresponding to the suction cups, where a sensor is positioned between the vacuum pump and a suction cup and measures a vacuum pressure of the suction cup. The control system may be configured to activate the vacuum pump to cause the suction gripper to apply suction to an object through one or more active suction cups, receive sensor data indicative of the vacuum pressure of the one or more active suction cups from the corresponding sensors, identify at least one suction cup to deactivate from the one or more active suction cups, and deactivate the at least one identified suction cup.

主权项

1. A system, comprising:
a suction gripper, comprising:
a vacuum pump;a plurality of suction cups coupled to the vacuum pump;a plurality of valves corresponding to the suction cups; anda plurality of sensors corresponding to the suction cups, wherein a sensor is positioned between the vacuum pump and a corresponding one of the suction cups and measures a vacuum pressure of the corresponding one of the suction cups; and a control system comprising a non-transitory computer-readable medium having stored therein instructions, that when executed by the control system, cause the control system to perform functions comprising:
opening at least two of the valves corresponding to at least two suction cups from the plurality of suction cups;activating the vacuum pump to cause the suction gripper to apply suction to an object through the least two suction cups from the plurality of suction cups;while the at least two valves corresponding to the at least two suction cups are open, receiving sensor data indicative of respective vacuum pressures of the at least two suction cups from the corresponding sensors;based on the received sensor data, comparing the respective vacuum pressures of the at least two suction cups with one another to identify at least one suction cup from the at least two suction cups with at least one lowest respective vacuum pressure among the at least two suction cups; andclosing at least one of the open valves that corresponds to the at least one identified suction cup.