Method for handling objects and handling system

A method for handling objects arranged in a work area, by means of a handling system, the method comprising

• at least one robot on which an end effector for gripping an object is arranged;
• a detection device comprising at least one acquisition unit, which is designed to capture an image of the work area;
• a control device for controlling the handling system, wherein the control device comprises a data processing system and a non-volatile memory device;
• the method comprising performing a plurality of handling cycles one after the other, each handling cycle comprising:
• a) capturing at least one image of the work area by means of the detection device;
• b) for at least one subset of the objects arranged in the work area:
• determining, on the basis of the at least one image of the work area, at least one grip point candidate at which a corresponding object can be gripped with the end effector, wherein the determined grip point candidates form a set Me of grip point candidates;
• c) selecting a grip point candidate as the target grip point for the end effector by means of the data processing system;
• d) carrying out a handling task comprising moving the end effector to the target grip point, wherein
• at least one subset Mes of the set Me is stored in a grip point memory of the non-volatile memory device,
• at least one subset Mtes of the grip point candidates Mes stored in the grip point memory during a handling cycle remains stored in the grip point memory at least until the next handling cycle, and until the selection of a grip point candidate as the target grip point during the next handling cycle,
• the target grip point is selected from a set Ms of grip point candidates stored in the grip point memory, and
• a storage criterion or a plurality of storage criteria are specified, wherein a check is performed as to whether the determined grip point candidates Me satisfy the storage criterion or at least one of or all of the plurality of storage criteria, wherein, of the set Me of determined grip point candidates, only those grip point candidates that satisfy the storage criterion or at least one of or all of the plurality of storage criteria are stored in the grip point memory of the non-volatile memory device.