Gripping device and method for taking out an article

An article handling device comprising:

• a gripper which grips an article;
• a driver, connected to the gripper, which moves the gripper;
• an article recognition unit which recognizes a state of the article, wherein the article recognition unit generates a first recognition result obtained by performing recognition before the article is gripped by the gripper, and a second recognition result obtained by performing recognition in a state that the article is gripped by the gripper;
• a determination unit which determines whether a gripping state of the gripper is stable or unstable based on the first recognition result and the second recognition result;
• and
• a controller configured to control the gripper and the driver, wherein the controller controls a first gripping operation in which the gripper grips the article by a first gripping position to transfer the article, the first gripping position being determined based on the first recognition result, and, in a case that the gripping state in the first tripping operation is determined as unstable, controls a second gripping operation in which the gripper releases the article and re-grips the article by a second gripping position different from the first gripping position.

A method for controlling an article handling device comprising a gripper which grips an article and a driver which is connected to the gripper and moves the gripper, the method comprising:

• recognizing a state of the article arranged in a storage area to generate a first recognition result;
• recognizing a gripping state of the gripper to generate a second recognition result;
• determining whether the gripping state is stable or unstable based on the second recognition result;
• controlling a first gripping operation in which the gripper grips the article by a first gripping position to transfer the article, the first gripping position being determined based on the first recognition result;
• and
• in response to determining that the gripping state in the first gripping operation is unstable, controls a second gripping operation in which the gripper releases the article and re-grips the article by a second gripping position different from the first gripping position.

A method for controlling an article handling device comprising a gripper which grips an article and a driver which moves the gripper, the method comprising;

• recognizing a state of the article to generate a first recognition result obtained by performing recognition before the article is gripped by the gripper, and a second recognition result obtained by performing recognition in a state where the article is gripped by the gripper;
• determining whether a gripping state of the gripper is stable or unstable based on the first recognition result and the second recognition result;
• controlling a first gripping operation in which the gripper grips the article by a first gripping position to transfer the article, the first gripping position being determined based on the first recognition result;
• and
• in response to determining that the gripping state in the first gripping operation is unstable, controlling a second gripping operation in which the gripper releases the article and re-grips the article by a second gripping position different from the first gripping position.