| CPC B65G 47/905 (2013.01) | 18 Claims |
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1. A handling system capable of handling a plurality of objects, the handling system comprising:
a movable arm;
a holder attached to the movable arm and capable of holding an object, the holder having a plurality of holding mechanisms which are end effectors independent of each other and being configured to select one or more of a plurality of holding methods to hold the object;
a sensor capable of detecting the object; and
a controller configured to control the movable arm and the holder,
wherein the controller determines whether or not to change an arrangement of the object before the object is held, on the basis of information acquired from the sensor, and
wherein in a case where it is determined to change the arrangement of the object, the controller decides on a holding method and an arrangement change operation in accordance with a holding obstruction factor that obstructs the holding of the object, evaluates effectiveness of the arrangement change operation using the holding method, for each object, and decides on an object subject to the arrangement change operation using the holding method on the basis of an evaluation result,
wherein the controller is configured to control the movable arm and the holder to hold and transport the object based on the determination on whether or not to change an arrangement of the object,
wherein the controller calculates a score of an arrangement change operation for each object in the evaluation, and selects an object subject to an arrangement change on the basis of the score, and
wherein the score of an arrangement change operation for each object is calculated on the basis of at least one of easiness of an arrangement change operation on a target object, difficulty in holding of the target object, and the number of objects whose arrangements are expected to be changed according to the arrangement change operation on the target object.
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