Dispensing system, and dispensing method

A dispensing system comprising:

• a robot configured to move a dispenser for suctioning a liquid to be dispensed;
• a camera for capturing an image including at least a tip of the dispenser, a liquid surface of the liquid, and an object not to be dispensed which is located below the liquid surface;
• means for acquiring, based on the image captured by the camera, surface location information for the liquid surface, boundary location information for a boundary between the liquid and the object not to be dispensed, and dispenser location information for the tip of the dispenser;
• and
• means for controlling the robot to lower the dispenser based at least in part on the dispenser location information, the surface location information, and the boundary location information, in order to suction the liquid into the dispenser, wherein the means for controlling is configured to:
• set a final target position based on the boundary location information;
• control the robot to lower the tip of the dispenser in response to the liquid surface being lowered;
• and
• control the robot to lower the tip of the dispenser to the final target position.

A dispensing method comprising:

• acquiring, from an image, surface location information for a liquid surface;
• acquiring, from the image, boundary location information for a boundary between a liquid to be dispensed and an object not to be dispensed, wherein the object not to be dispensed is located below the liquid surface;
• acquiring, from the image, dispenser location information for a tip of a dispenser, wherein the image includes at least the tip of the dispenser for suctioning the liquid, the liquid surface of the liquid, and the object not to be dispensed;
• setting a final target position based on the boundary location information;
• and
• controlling a robot to lower the dispenser, based at least in part on the dispenser location information, the surface location information, and the boundary location information, in order to suction the liquid into the dispenser, wherein controlling the robot to lower the dispenser includes:
• controlling the robot to lower the tip of the dispenser in response to the liquid surface being lowered;
• and
• controlling the robot to lower the tip of the dispenser to the final target position.