Handling system, transport system, control device, storage medium, and handling method

A control device which controls a handling system including:

• a movable arm,
• a robot hand configured to be attached to the movable arm and capable of holding an object by selecting one or more of a plurality of holding methods, and
• a sensor configured to be capable of detecting a plurality of objects,
• wherein the control device calculates ease of holding as a first score for each object and each holding method on the basis of information acquired from the sensor,
• calculates a second score based on a selected holding method, for each object and each holding method, the second score being calculated by a function that depends on the first score of the selected holding method and the first score of the holding method that is the evaluation target of the second score,
• selects a next object to be held and a holding method on the basis of the second score, and
• calculates a position at which the selected object is held and a posture of the movable arm.

A non-transitory computer-readable storage medium storing a control program which controls a handling system including:

• a movable arm,
• a robot hand configured to be attached to the movable arm and capable of holding an object by selecting one or more of a plurality of holding methods,
• a sensor configured to be capable of detecting a plurality of objects, and
• a controller configured to control the movable arm and the robot hand,
• wherein the control program causes the controller to execute
• calculating ease of holding as a first score for each object and each holding method on the basis of information acquired from the sensor,
• calculating a second score based on a selected holding method, for each object and each holding method, the second score being calculated by a function that depends on the first score of the selected holding method and the first score of the holding method that is the evaluation target of the second score,
• selecting a next object to be held and a holding method on the basis of the second score, and
• calculating a position at which the selected object is held and a posture of the movable arm.

A handling method of handling goods by a handling system including:

• a movable arm,
• a robot hand configured to be attached to the movable arm and capable of holding an object by selecting one or more of a plurality of holding methods,
• a sensor configured to be capable of detecting a plurality of objects, and
• a controller configured to control the movable arm and the robot hand,
• the handling method comprising the steps of:
• calculating, by the controller, ease of holding as a first score b for each object and each holding method on the basis of information acquired from the sensor,
• calculating, by the controller, a second score based on a selected holding method, for each object and each holding method, the second score being calculated by a function that depends on the first score of the selected holding method and the first score of the holding method that is the evaluation target of the second score,
• selecting, by the controller, a next object to be held and a holding method on the basis of the second score, and
• calculating, by the controller, a position at which the selected object is held and a posture of the movable arm.

A handling system comprising:

• a movable arm;
• a robot hand configured to be attached to the movable arm and capable of holding an object to be held by selecting one or more of a plurality of holding mechanisms including one or more of a pinching mechanism, an adsorption mechanism, a magnetic mechanism, and a jamming gripper mechanism;
• a sensor configured to be capable of detecting the object to be held;
• and
• a controller configured to control the movable arm and the robot hand,
• wherein the controller calculates ease of holding as a first score for each object and each holding mechanism on the basis of information acquired from the sensor,
• calculates a second score based on a selected holding mechanism, for each object and each holding mechanism, the second score being calculated by a function that depends on the first score of the selected holding mechanism and the first score of the holding mechanism that is the evaluation target of the second score,
• selects an object to be held and a holding mechanism that holds the object to be held after the selected holding mechanism on the basis of the second score, and
• calculates a position at which a holding mechanism, which holds the object to be held after the selected holding mechanism, holds the object to be held, and a posture of the movable arm.