Handling system, control device, and control method

A control device controlling a handling device configured to transfer an object from a transfer source space to a transfer destination space with the object gripped, a transfer destination measuring device configured to measure a transfer destination shape that is a shape of the transfer destination space, and an object measuring device configured to measure an object shape that is a shape of the object transferred by the handling device,

• the control device comprising:
• a recording unit configured to record a measurement history of the transfer destination shapes acquired from the transfer destination measuring device, a calculation history of the placement positions of the object transferred into the transfer destination space, and a measurement history of the object shapes acquired from the object measuring device;
• and
• a measurement information processing unit configured to generate a complemented transfer destination shape acquired by complementing the transfer destination shape on the basis of the measurement history of the transfer destination shapes, the calculation history of the placement positions, and the measurement history of the object shapes.