US 12,115,665 B2
Handling system, transport system, control device, storage medium, and handling method
Kazuma Komoda, Kawasaki (JP); Seiji Tokura, Kawasaki (JP); Haruna Eto, Kawasaki (JP); and Akihito Ogawa, Fujisawa (JP)
Assigned to Kabushiki Kaisha Toshiba, Tokyo (JP)
Filed by Kabushiki Kaisha Toshiba, Tokyo (JP)
Filed on Feb. 23, 2022, as Appl. No. 17/652,122.
Claims priority of application No. 2021-030860 (JP), filed on Feb. 26, 2021.
Prior Publication US 2022/0274252 A1, Sep. 1, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 15/00 (2006.01); B25J 15/06 (2006.01)
CPC B25J 9/1612 (2013.01) [B25J 9/1653 (2013.01); B25J 9/1694 (2013.01); B25J 15/0052 (2013.01); B25J 15/0616 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A handling system comprising:
a movable arm;
a robot hand that is attached to the movable arm and capable of holding an object by selecting one or more of a plurality of holding methods;
a sensor configured to be capable of detecting a plurality of objects; and
a controller configured to control the movable arm and the robot hand,
wherein the controller calculates ease of holding as a first score for each object and each holding method on the basis of information acquired from the sensor,
calculates a second score based on a selected holding method, for each object and each holding method, the second score being calculated by a function that depends on the first score of the selected holding method and the first score of the holding method that is the evaluation target of the second score,
selects a next object to be held and a holding method on the basis of the second score, and
calculates a position at which the selected object is held and a posture of the movable arm.