Workpiece picking device and workpiece picking method for improving picking operation of workpieces

A workpiece picking device, comprising:

• a sensor configured to measure a plurality of workpieces randomly piled in a three-dimensional space;
• a robot configured to hold the workpieces;
• a hand mounted to the robot for holding the workpieces;
• a robot controller configured to
• calculate holding position posture data of a position and a posture to hold the workpieces by the robot on the basis of an output of the sensor,
• generate loading state improvement operation data of an operation of improving a loading state of the workpieces by the robot on the basis of the output of the sensor,
• output at least one operation candidate, and
• determine one operation from the at least one operation candidate and control the robot and the hand on the basis of the operation as determined,
• wherein the robot controller is configured to control the robot and the hand on the basis of the holding position posture data and the loading state improvement operation data to pick the workpieces or perform a loading state improvement operation;
• and
• a processor configured to
• observe, as state data, measurement data obtained by the sensor, the holding position posture data, and the loading state improvement operation data,
• obtain, as determination data, time data relative to handling which is a series of operations of picking the workpieces by the robot and the hand, and
• perform machine learning to learn an operation determination of determining one operation from the at least one operation candidate on the basis of the state data and the determination data.