Picking system, control device, picking method, and storage medium

A control device configured to control a picking robot,

• the picking robot configured to transfer an object from a first space to a second space by using a robot hand,
• the control device being configured to:
• receive a first measurement result from a first measuring instrument, the first measuring instrument being configured to measure a shape of the object from above to acquire the first measurement result, the first measurement result being acquired when the object is placed in the first space;
• receive a second measurement result from a second measuring instrument, the second measuring instrument being configured to measure a shape of the object from a side of the object to acquire the second measurement result, the second measurement result being acquired while the robot hand raises the object from the first space;
• perform a first calculation, based on the first measurement result, to calculate position candidates of the object in the second space in three directions that are not all parallel, the first calculation including
• shifting a position for placing the object in the second space in each of the three directions, and
• determining, using the first measurement result, whether the object contacts another object at each shifted position for placing the object in the second space, and
• perform a second calculation, based on the second measurement result and a position candidate among the position candidates, to calculate a position of the robot hand for placing the object in the second space, the second calculation including
• determining, from the second measurement result, a protrusion amount of the object;
• and
• adding the protrusion amount to the position candidate to obtain the position of the robot hand for placing the object in the second space.

A picking method using a picking robot,

• the picking robot configured to transfer an object from a first space to a second space by using a robot hand,
• the picking method comprising:
• measuring a shape of the object from above to acquire a first measurement result, the first measurement result being acquired when the object is placed in the first space;
• measuring a shape of the object from a side of the object to acquire a second measurement result, the second measurement result being acquired while the robot hand raises the object from the first space;
• performing a first calculation, based on the first measurement result, to calculate position candidates of the object in the second space in three directions that are not all parallel, the first calculation including
• shifting a position for placing the object in the second space in each of the three directions, and
• determining, using the first measurement result, whether the object contacts another object at each shifted position for placing the object in the second space, and
• performing a second calculation, based on the second measurement result and a position candidate among the position candidates, to calculate a position of the robot hand for placing the object in the second space, the second calculation including
• determining, from the second measurement result, a protrusion amount of the object, and
• adding the protrusion amount to the position candidate to obtain the position of the robot hand for placing the object in the second space.

A non-transitory computer-readable storage medium storing a program, the program configured to cause a computer to control a picking robot,

• the picking robot configured to transfer an object from a first space to a second space by using a robot hand,
• the program configured to cause a first measuring instrument to measure a shape of the object from above to acquire a first measurement result, the first measurement result being acquired when the object is placed in the first space,
• the program configured to cause a second measuring instrument to measure a shape of the object from a side of the object to acquire a second measurement result, the second measurement result being acquired while the robot hand raises the object from the first space,
• the program configured to cause the computer to:
• receive the first measurement result from the first measuring instrument;
• perform a first calculation, based on the first measurement result, to calculate position candidates of the object in the second space in three directions that are not all parallel, the first calculation including
• shifting a position for placing the object in the second space in each of the three directions, and
• determining, using the first measurement result, whether the object contacts another object at each shifted position for placing the object in the second space:
• receive the second measurement result from the second measuring instrument;
• and
• perform a second calculation, based on the second measurement result and a position candidate among the position candidates, to calculate a position of the robot hand for placing the object in the second space, the second calculation including
• determining, from the second measurement result, a protrusion amount of the object, and
• adding the protrusion amount to the position candidate to obtain the position of the robot hand for placing the object in the second space.