Transfer system, transfer device, and transfer method

A transfer device for transferring a transfer target object, the transfer device comprising:

• a fork on which the transfer target object is placed;
• wherein the fork comprises arms that form a U shape and includes a conductor at a predetermined conductor location on each tip of the fork and at a predetermined conductor location on a base of the fork,
• wherein the fork comprises a suction hole at a predetermined suction location on each tip of the fork and at a predetermined suction location on the base of the fork, the suction holes connected by a suction path within the fork, suction within the suction holes and the suction path controlled to hold the transfer object
• wherein the transfer target object includes a plurality of position sensors and a plurality of capacitance sensors, the plurality electrostatic capacitance sensor configured to detect corresponding ones of the conductors of the fork, the plurality of position sensors being cameras configured to detect portions of the fork,
• an arm configured to move the fork, and
• a control device configured to control the arm based on a relative position between the fork and the transfer target object that is determined based on each of a detected result of the plurality of position sensors and a detected result of the plurality of position sensors.

A transfer method performed by a transfer system,

• the transfer system including:
• a transfer robot comprising a fork and configured to transfer a transfer target object based on an operation instruction, and
• a controller configured to output the operation instruction to the transfer robot,
• wherein the fork comprises arms that form a U shape and includes a conductor at a predetermined conductor location on each tip of the fork and at a predetermined conductor location on a base of the fork,
• wherein the fork comprises a suction hole at a predetermined suction location on each tip of the fork and at a predetermined suction location on the base of the fork, the suction holes connected by a suction path within the fork, suction within the suction holes and the suction path controlled to hold the transfer object,
• wherein the transfer target object includes a plurality of position sensors and a plurality of capacitance sensors, the plurality electrostatic capacitance sensor configured to detect corresponding ones of the conductors of the fork, the plurality of position sensors being cameras configured to detect portions of the fork,
• the transfer method comprising:
• calculating a relative position between the fork and the transfer target object based on each of a detected result of the plurality of position sensors and a detected result of the plurality of position sensors;
• calculating a misalignment of the relative position with respect to a reference position;
• correcting the misalignment when the misalignment amount is equal to or larger than a first threshold value and is less than a second threshold value, and
• issuing an alert to stop the transfer system when the misalignment amount is equal to or larger than the second threshold value.