Picking robot, picking method, and computer program product

A picking method comprising:

• by a picking robot,
• acquiring first area information indicating a first area in which a target object is placed;
• calculating first position and posture information indicating a position and posture of the target object from the first area information;
• calculating second position and posture information indicating a position and posture in the first area, the second position and posture information being different from the first position and posture information;
• performing controlling that includes controlling of a first operation of gripping the target object based on the first position and posture information and moving the target object to a second area, determining whether a result of the first operation is inadequate based on a grip state of the target object that is gripped by the first operation, and when the result of the first operation is inadequate, controlling of a second operation of arranging the target object at the position in the first area indicated by the second position and posture information in the posture indicated by the second position and posture information;
• and
• gripping the target object and moving the gripped target object, based on the controlling performed by the picking robot,
• wherein:
• the controlling includes determining that the result of the first operation is inadequate when the target object cannot be moved to the second area in the grip state of the target object gripped by the first operation or when the grip state of the target object gripped by the first operation is unmatched with a grip state indicated by information specified by a grip request that is input to the picking robot.

A non-transitory computer readable medium having stored thereon a computer program including instructions that are executable by a computer to cause the computer to perform functions comprising:

• acquiring first area information indicating a first area in which a target object is placed;
• calculating first position and posture information indicating a position and posture of the target object from the first area information;
• calculating second position and posture information indicating a position and posture in the first area, the second position and posture information being different from the first position and posture information;
• controlling a grip mechanism to perform a first operation of gripping the target object based on the first position and posture information and moving the target object to a second area, determining whether a result of the first operation is inadequate based on a grip state of the target object that is gripped by the first operation, and when the result of the first operation is inadequate, controlling the grip mechanism to perform a second operation of arranging the gripped target object at the position in the first area indicated by the second position and posture information in the posture indicated by the second position and posture information,
• wherein:
• the controlling includes determining that the result of the first operation is inadequate when the target object cannot be moved to the second area in the grip state of the target object gripped by the first operation or when the grip state of the target object gripped by the first operation is unmatched with a grip state indicated by information specified by a grip request that is input to the computer.