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

A cargo handling apparatus, comprising:

• a hand holding an article;
• a robot arm moving the hand;
• and
• a transfer device located below the robot arm,
• the transfer device transferring the article,
• when the hand is to hold a first article, compared to when interference of the robot arm with the transfer device or a second article on the transfer device will occur, a start timing of the holding of the first article by the hand being accelerated when the interference will not occur.

A control device,

• the control device causing a cargo handling apparatus to perform a first operation and a second operation,
• the cargo handling apparatus including:
• a hand holding an article;
• a robot arm moving the hand;
• a transfer device arranged with the robot arm in a first direction, the transfer device transferring the article;
• and
• a measurement device measuring a position and a size of the article,
• the first operation transferring the article to the transfer device by using the hand and the robot arm,
• the second operation transferring the transferred article by using the transfer device,
• the control device determining, based on a measurement result of the measurement device, whether or not the robot arm will interfere with the transfer device or a second article on the transfer device when performing the first operation for a first article,
• the control device controlling a start timing of the first operation according to a determination result of the interference.

A cargo handling method,

• the cargo handling method causing a cargo handling apparatus to perform a first operation and a second operation,
• the cargo handling apparatus including:
• a hand holding an article;
• a robot arm moving the hand;
• a transfer device arranged with the robot arm in a first direction, the transfer device transferring the article;
• and
• a measurement device measuring a position and a size of the article,
• the first operation transferring the article to the transfer device by using the hand and the robot arm,
• the second operation transferring the transferred article by using the transfer device,
• the cargo handling method comprising:
• determining, based on a measurement result of the measurement device, whether or not the robot arm will interfere with the transfer device or a second article on the transfer device when performing the first operation for a first article;
• and
• controlling a start timing of the first operation according to a determination result of the interference.

A non-transitory computer-readable storage medium storing a program,

• the program causing a control device of a cargo handling apparatus to perform a first operation and a second operation,
• the cargo handling apparatus including:
• a hand holding an article;
• a robot arm moving the hand;
• a transfer device arranged with the robot arm in a first direction, the transfer device transferring the article;
• and
• a measurement device measuring a position and a size of the article,
• the first operation transferring the article to the transfer device by using the hand and the robot arm,
• the second operation transferring the transferred article by using the transfer device,
• the program causing the control device to:
• determine, based on a measurement result of the measurement device, whether or not the robot arm will interfere with the transfer device or a second article on the transfer device when performing the first operation for a first article;
• and
• control a start timing of the first operation according to a determination result of the interference.