Cargo-handling apparatus, control device, control method, and storage medium

A control device configured to control a handling apparatus including a holding unit configured to hold an object, wherein the holding unit includes a plurality of first suction units configured to hold an upper surface of the object via vacuum suction, and a plurality of second suction units configured to hold a side surface of the object via vacuum suction simultaneously with the plurality of first suction units, an image-capturing unit configured to capture an image of the object in a first direction, a distance measurement sensor configured to measure a distance to the object in a second direction crossing the first direction, a vertical frame, and a guide attached to the vertical frame and extending in the first direction, the control device being configured to:

• select a first object to be held based on an imaging result by the image-capturing unit;
• calculate, based on a measurement result by the distance measurement sensor, a position of an upper surface of the first object crossing the first direction and a position of a side surface of the first object crossing the second direction;
• and
• cause the holding unit to hold the first object in accordance with the position of the upper surface and the position of the side surface,
• when the holding unit holds the first object and is moved in the first direction, the control device is configured to causes the distance measurement sensor to move in a direction opposite to the holding unit along the guide via an actuator while measuring a first distance from the first object by the distance measurement sensor,
• the control device being configured to calculate a length of the first object in the first direction based on a measurement result of the first distance.

A control method of a handling apparatus including a holding unit configured to hold an object, wherein the holding unit includes a plurality of first suction units configured to hold an upper surface of the object via vacuum suction, and a plurality of second suction units configured to hold a side surface of the object via vacuum suction simultaneously with the plurality of first suction units, an image-capturing unit configured to capture an image of the object in a first direction, a distance measurement sensor configured to measure a distance to the object in a second direction crossing the first direction, a vertical frame, and a guide attached to the vertical frame and extending in the first direction, the method comprising:

• selecting a first object to be held based on an imaging result by the image-capturing unit;
• calculating, based on a measurement result by the distance measurement sensor, a position of an upper surface of the first object crossing the first direction and a position of a side surface of the first object crossing the second direction;
• and
• causing the holding unit to hold the first object in accordance with the position of the upper surface and the position of the side surface,
• in response to the holding unit holding the first object and moving in the first direction, moving the distance measurement sensor in a direction opposite to the holding unit along the guide via an actuator while measuring a first distance from the first object by the distance measurement sensor,
• a length of the first object in the first direction being calculated based on a measurement result of the first distance.

A non-transitory computer-readable storage medium storing a program that causes a computer to control a handling apparatus, the handling apparatus including a holding unit configured to hold an object, wherein the holding unit includes a plurality of first suction units configured to hold an upper surface of the object via vacuum suction, and a plurality of second suction units configured to hold a side surface of the object via vacuum suction simultaneously with the plurality of first suction units, an image-capturing unit configured to capture an image of the object in a first direction, a distance measurement sensor configured to measure a distance to the object in a second direction crossing the first direction, a vertical frame, and a guide attached to the vertical frame and extending in the first direction, the program causing the computer to:

• select a first object to be held based on an imaging result by the image-capturing unit;
• calculate, based on a measurement result by the distance measurement sensor, a position of an upper surface of the first object crossing the first direction and a position of a side surface of the first object crossing the second direction;
• and
• cause the holding unit to hold the first object in accordance with the position of the upper surface and the position of the side surface,
• when the holding unit holds the first object and is moved in the first direction, the computer causes the distance measurement sensor to move in a direction opposite to the holding unit along the guide via an actuator while measuring a first distance from the first object by the distance measurement sensor,
• the program causing the computer to calculate a length of the first object in the first direction based on a measurement result of the first distance.

A handling apparatus comprising:

• a holding unit including a plurality of first units configured to hold a first face of an object and a plurality of second units configured to hold a second face of the object;
• an image-capturing unit configured to capture an image of the object in a first direction, wherein the first face crosses the first direction;
• a distance measurement sensor configured to measure a distance between the object and the distance measurement sensor in a second direction crossing the first direction, wherein the second face crosses the first direction;
• a vertical frame;
• a guide attached to the vertical frame and extending in the first direction;
• and
• a control unit configured to
• select a first object to be held based on an imaging result by the image-capturing unit,
• calculate, based on a measurement result by the distance measurement sensor, positions of the first and second faces of the first object, and
• cause the holding unit to operate in accordance with the positions of the first and second faces of the first object,
• wherein the holding unit is configured to move in the first direction while holding both the first and second faces using the plurality of first units and the plurality of second units,
• wherein, when the holding unit moves in the first direction, the distance measurement sensor is moved in a direction opposite to that of the holding unit along the guide via an actuator while the distance measurement sensor measures a first distance from the first object,
• wherein the control unit is configured to calculate a length of the first object in the first direction based on a measurement result of the first distance.