Handling system, control device, handling method, and storage medium

A control device that controls a handling system including:

• a holding unit configured to hold an object;
• a holding state sensor attached to the holding unit and configured to detect a holding state in which the holding unit holds the object;
• and
• a detection unit configured to detect the object and a holding posture in which the holding unit holds the object,
• wherein the control device performs:
• generating a carrying operation plan for allowing the holding unit to carry the object;
• calculating a safety factor indicating stability of a state in which the holding unit holds the object on the basis of the holding state, the holding posture, and the carrying operation plan;
• determining whether the carrying operation plan is to be changed on the basis of the safety factor;
• and
• changing the carrying operation plan on the basis of the safety factor when it is determined that the carrying operation plan is to be changed.

A handling method of carrying an object by a holding unit configured to hold the object, comprising, by a processor of a computer:

• acquiring information of detecting a holding state and a holding posture in which the holding unit holds the object;
• acquiring a carrying operation plan for allowing the holding unit to carry the object;
• calculating a safety factor indicating stability of a state in which the holding unit holds the object on the basis of the holding state, the holding posture, and the carrying operation plan and correcting the carrying operation plan on the basis of the safety factor;
• and
• causing the holding unit to carry the object on the basis of the corrected carrying operation plan.

A non-transitory computer-readable storage medium storing control program controlling a handling system including:

• a holding unit configured to hold an object;
• a holding state sensor attached to the holding unit and configured to detect a holding state in which the holding unit holds the object;
• a detection unit configured to detect the object and a holding posture in which the holding unit holds the object;
• and
• a control device configured to control an operation of the holding unit,
• wherein the control program causes the control device to perform:
• generating a carrying operation plan for allowing the holding unit to carry the object;
• calculating a safety factor indicating stability of a state in which the holding unit holds the object on the basis of the holding state, the holding posture, and the carrying operation plan;
• determining whether the carrying operation plan is to be changed on the basis of the safety factor;
• and
• changing the carrying operation plan on the basis of the safety factor when it is determined that the carrying operation plan is to be changed.