Robot System And Imaging Method

An imaging method by a robot including a gripping section configured to grip a storing section, a first arm in which the gripping section is provided, the first arm drawing out the storing section from a shelf in which the storing section is housed, a force detecting section provided in the first arm and configured to detect force applied to the gripping section, and an imaging section configured to image the storing section,

• the imaging method comprising:
• gripping, with the gripping section, the storing section housed in the shelf;
• drawing out the storing section from the shelf with the first arm;
• imaging the storing section with the imaging section;
• detecting a bottom surface of the storing section based on a result of the imaging and calculating a normal of the bottom surface;
• tilting, when it is determined that the normal and an optical axis of the imaging section are not parallel, with the gripping section or the first arm, the storing section in a direction for reducing an angle formed by the optical axis and the normal;
• suspending the drawing out and the tilting when the force detecting section detects a predetermined output value in the drawing out and the tilting;
• and
• imaging an inside of the storing section with the imaging section.