Hold position determination device and hold position determination method

A holding position determination method, comprising:

• acquiring, by a holding position determination device that determines the position where an end effector, including two or more fingers, adapted to hold a holding target contacts the holding target at a holding position, an end effector model that includes a stroke model that identifies a stroke range which represents a maximum opening width of the fingers identifies an area where a holding portion of the end effector can exist;
• ac quiring, by the holding position determination device, a rule map that includes a map defining the position of the holding target to be held by the end effector based on an image of holding target obtained by photographing the holding target, wherein the rule map includes a surrounding environment map that identifies an object area, which represents an area where the holding target exists at a height of the position at which the holding target is held, projecting the end effector model, as a temporary holding position of the holding target, onto the rule map, and determining that the end effector model cannot be projected when a position of one of the fingers overlaps the object area;
• determining, by the holding position determination device, the holding position based on the end effector model and the rule map, and generating control signals to actuate the end effector at the holding position to physically grasp the holding target and move the holding target from a work start platform to a work target platform.

A holding position determination device comprising:

• at least one processor configured to:
• determine a position where an end effector adapted to hold a holding target contacts the holding target as a holding position,
• acquire an end effector model that identifies an area where a holding portion of the end effector can exist,
• acquire a rule map comprising a plurality of different types of maps that includes a first map defining the position of the holding target to be held by the end effector based on an image of holding target obtained by photographing the holding target,
• calculate an appropriate value representing appropriateness of holding position for a plurality of holding positions based on the plurality of different types of maps included in the rule map and a map coefficient determined for each map of the plurality of different types of maps,
• determine the holding position based on the appropriate value, and
• generate control signals to actuate the end effector at the holding position to physically grasp the holding target and move the holding target from a work start platform to a work target platform.