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

A transport system capable of transporting a plurality of objects, the transport system comprising:

• a movable arm;
• a holder attached to the movable arm and capable of holding an object, the holder having a plurality of holding mechanisms which are end effectors independent of each other and being configured to select one or more of a plurality of holding methods to hold the object;
• a sensor capable of detecting the object;
• and
• a controller configured to control the movable arm and the holder,
• wherein the controller determines whether or not to change an arrangement of the object before the object is held, on the basis of information acquired from the sensor,
• wherein in a case where it is determined to change the arrangement of the object, the controller decides on a holding method and an arrangement change operation in accordance with a holding obstruction factor that obstructs the holding of the object, evaluates effectiveness of the arrangement change operation using the holding method, for each object, and decides on an object subject to the arrangement change operation using the holding method on the basis of an evaluation result, and
• wherein in a case where it is determined not to change the arrangement of the object, the controller calculates a position where the object selected as a holding target is held and a posture of the movable arm to cause the object to be moved from a first position to a second position,
• wherein the controller is configured to control the movable arm and the holder to hold and transport the object based on the determination on whether or not to change an arrangement of the object,
• wherein the controller calculates a score of an arrangement change operation for each object in the evaluation, and selects an object subject to an arrangement change on the basis of the score, and
• wherein the score of an arrangement change operation for each object is calculated on the basis of at least one of easiness of an arrangement change operation on a target object, difficulty in holding of the target object, and the number of objects whose arrangements are expected to be changed according to the arrangement change operation on the target object.

A control device for controlling a handling system capable of handling a plurality of objects,

• wherein the handling system includes
• processing circuitry;
• a movable arm;
• a holder attached to the movable arm and capable of holding an object, the holder having a plurality of holding mechanisms which are end effectors independent of each other and being configured to select one or more of a plurality of holding methods to hold the object;
• and
• a sensor capable of detecting the object,
• wherein the processing circuitry determines whether or not to change an arrangement of the object before the object is held, on the basis of information acquired from the sensor, and
• wherein in a case where it is determined to change the arrangement of the object, the processing circuitry decides on a holding method and an arrangement change operation in accordance with a holding obstruction factor that obstructs the holding of the object, evaluates effectiveness of the arrangement change operation using the holding method, for each object, and decides on an object subject to the arrangement change operation using the holding method on the basis of an evaluation result,
• wherein the processing circuitry is configured to control the movable arm and the holder to hold and transport the object based on the determination on whether or not to change an arrangement of the object,
• wherein the processing circuitry calculates a score of an arrangement change operation for each object in the evaluation, and selects an object subject to an arrangement change on the basis of the score, and
• wherein the score of an arrangement change operation for each object is calculated on the basis of at least one of easiness of an arrangement change operation on a target object, difficulty in holding of the target object, and the number of objects whose arrangements are expected to be changed according to the arrangement change operation on the target object.

A non-transitory computer-readable storage medium storing a program for controlling a handling system capable of handling a plurality of objects,

• wherein the handling system includes
• a movable arm;
• a holder attached to the movable arm and capable of holding an object, the holder having a plurality of holding mechanisms which are end effectors independent of each other and being configured to select one or more of a plurality of holding methods to hold the object;
• a sensor capable of detecting the object;
• and
• a controller configured to control the movable arm and the holder, and
• wherein the program causes the controller to execute steps of:
• determining whether or not to change an arrangement of the object before the object is held, on the basis of information acquired from the sensor, and
• in a case where it is determined to change the arrangement of the object, deciding on a holding method and an arrangement change operation in accordance with a holding obstruction factor that obstructs the holding of the object, evaluating effectiveness of the arrangement change operation using the holding method, for each object, and deciding on an object subject to the arrangement change operation using the holding method on the basis of an evaluation result,
• wherein the controller is configured to control the movable arm and the holder to hold and transport the object based on the determination on whether or not to change an arrangement of the object,
• wherein the controller calculates a score of an arrangement change operation for each object in the evaluation, and selects an object subject to an arrangement change on the basis of the score, and
• wherein the score of an arrangement change operation for each object is calculated on the basis of at least one of easiness of an arrangement change operation on a target object, difficulty in holding of the target object, and the number of objects whose arrangements are expected to be changed according to the arrangement change operation on the target object.

A handling method for use in a handling system capable of handling a plurality of objects,

• wherein the handling system includes
• a movable arm;
• a holder attached to the movable arm and capable of holding an object, the holder a plurality of holding mechanisms which are end effectors independent of each other and being configured to select one or more of a plurality of holding methods to hold the object;
• a sensor capable of detecting the object;
• and
• a controller configured to control the movable arm and the holder, and
• wherein the handling method includes:
• determining, by the controller, whether or not to change an arrangement of the object before the object is held, on the basis of information acquired from the sensor, and
• in a case where the controller determines to change the arrangement of the object, deciding on a holding method and an arrangement change operation in accordance with a holding obstruction factor that obstructs the holding of the object, evaluating, by the controller, the arrangement change operation using the holding method, for each object, and deciding on, by the controller, an object subject to the arrangement change operation using the holding method on the basis of an evaluation result,
• wherein the method further includes controlling, by the controller, the movable arm and the holder to hold and transport the object based on the determination on whether or not to change an arrangement of the object,
• wherein the controller calculates a score of an arrangement change operation for each object in the evaluation, and selects an object subject to an arrangement change on the basis of the score, and
• wherein the score of an arrangement change operation for each object is calculated on the basis of at least one of easiness of an arrangement change operation on a target object, difficulty in holding of the target object, and the number of objects whose arrangements are expected to be changed according to the arrangement change operation on the target object.