Article pickup system, article pickup robot, article pickup method, and article pickup program

An article pickup robot comprising:

• an article pickup robot camera configured to capture an environment image of an environment;
• a camera position acquisition unit configured to acquire camera recognition image data which is image data including appearance information of the camera, detect a camera based on the camera recognition image data and the environment image, and then acquire position information of the detected camera, the camera being configured to acquire image data by capturing a plurality of articles to be picked up;
• an article position specification unit configured to specify positions of the plurality of captured articles based on the position information of the camera;
• a mobile unit configured to move to the specified positions;
• and
• a pickup unit configured to pick up the plurality of articles at the positions to which the mobile unit has moved,
• wherein the camera is provided in a mobile body capable of moving in the environment where the plurality of articles are present.

An article pickup method comprising:

• capturing an environment image of an environment by an article pickup robot camera;
• acquiring camera recognition image data which is image data including appearance information of a camera;
• detecting the camera based on the camera recognition image data and the environment image, and then acquiring position information of the detected camera, the detected camera being configured to acquire image data by capturing a plurality of articles to be picked up;
• specifying positions of the plurality of captured articles based on the position information of the detected camera;
• moving a mobile unit to the specified positions;
• and
• picking up the plurality of articles at the positons to which the mobile unit has moved,
• wherein the detected camera is provided in a mobile body, the mobile body being capable of moving in an environment where the plurality of articles are present.

A non-transitory computer readable medium storing an article pickup program for causing a computer to execute:

• processing of capturing an environment image of an environment by an article pickup robot camera;
• processing of acquiring camera recognition image data which is image data including appearance information of a camera;
• processing of detecting the camera based on the camera recognition image data and the environment image;
• and
• processing of acquiring position information of the detected camera, the detected camera being configured to acquire image data by capturing a plurality of articles to be picked up;
• processing of specifying positions of the plurality of captured articles based on the position information of the detected camera;
• processing of moving a mobile unit to the specified positions;
• and
• processing of picking up the plurality of articles at the positions to which the mobile unit has moved,
• wherein the detected camera is provided in a mobile body, the mobile body capable of moving in an environment where the plurality of articles are present.