Handling device, control device, and control program

Abstract

To provide a handling device, a control device, and a handling device control program, which can efficiently determine a holding strategy for holding an object.SOLUTION: A handling device includes: an arm which has joints; a holding section which can hold an object; a sensor which can detect a plurality of objects; and a control device which controls the arm and the holding section. The control device calculates easiness in holding for holding the object by the holding section as a score on the basis of information acquired from the sensor and calculates the score for each object and holding method. The control device selects the object to be held and the holding method on the basis of the score. The control device calculates a position for holding the selected object and the posture of the arm.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] An embodiment of the present invention relates to a handling device, a control device, and a control program. [Background technology]

[0002] Conventionally, handling devices in which an end effector holds an object are known. Automating transfer operations in logistics sites requires the ability to hold objects of a wide variety of shapes, sizes, and weights. When holding these objects using a handling device, numerous calculations are required to determine the holding strategy, including the holding position, holding method, and robot arm posture. The more complex the object loading state, the longer the calculation time required to determine the holding strategy. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-162684 A [Patent Document 2] JP 2019-162685 A Summary of the Invention [Problem to be solved by the invention]

[0004] The problem to be solved by the present invention is to provide a handling device, a control device, and a control program that can efficiently determine a holding strategy for holding an object. [Means for solving the problem]

[0005] The handling device of the embodiment includes an arm with a joint, a holding unit capable of holding an object, a sensor capable of detecting a plurality of the objects, and a control device that controls the arm and the holding unit. The control device calculates a score for each object and each holding method, which indicates the ease with which the holding unit can hold the object, based on information acquired from the sensor. The control device selects the object to be held and the holding method based on the score. The control device calculates the position and posture of the arm at which the selected object will be held. [Brief explanation of the drawings]

[0006] [Figure 1] FIG. 1 is a perspective view schematically showing a handling device according to an embodiment. [Figure 2] 4 is a control flowchart of a control device of the handling device. [Figure 3] FIG. 10 is a diagram showing a temporary mask region in image data of an object. [Figure 4] FIG. 10 is a diagram showing a mask region in image data of an object. [Figure 5] FIG. 1 is a diagram showing a depth image of an object. [Figure 6] 1A and 1B are diagrams illustrating the three-dimensional position and orientation of an object. [Figure 7] FIG. 10 is a diagram showing a mask region to which information about three-dimensional position and orientation has been added. [Figure 8] FIG. 10 is a diagram showing an object for which a score is calculated. [Figure 9] FIG. 10 is a diagram showing an object for which a score is calculated. [Figure 10] FIG. 10 is a diagram showing an object for which a score is calculated. [Figure 11] FIG. 10 is a diagram illustrating an evaluation function that takes into account the loading status of objects. [Figure 12] FIG. 10 is a diagram illustrating an evaluation function that takes into account the loading status of objects. [Figure 13] FIG. 10 is a diagram illustrating an evaluation function that takes into account the loading status of objects. DETAILED DESCRIPTION OF THE INVENTION

[0007] Hereinafter, a handling system, a control system, and a control program according to embodiments will be described with reference to the drawings. In the following description, components having the same or similar functions will be assigned the same reference numerals. Duplicate descriptions of these components may be omitted. In addition, "based on XX" in this application means "based on at least XX" and includes cases where the system is based on other elements in addition to XX. Furthermore, "based on XX" is not limited to cases where XX is used directly, but also includes cases where the system is based on XX after calculation or processing. "XX" is any element (for example, any information).

[0008] An embodiment will be described with reference to Figures 1 to 13. Figure 1 is a perspective view that schematically shows a transport system 1 including a handling device 10 of this embodiment.

[0009] The transport system 1 is, for example, a handling system (picking system) for physical distribution. The transport system 1 moves an object (an object to be held, an object to be transported) O located at a source V1 to a destination V2.

[0010] The source V1 may be, for example, various conveyors, various pallets, or containers such as totes or container containers. A "container" broadly refers to a component (e.g., a box-shaped component) that can accommodate an object O. However, the source V1 is not limited to the above examples. In the following description, the "source V1" may be referred to as the "source container V1."

[0011] Many types of objects O of different sizes and weights are placed randomly at the source V1. For example, the object O to be held has an uneven shape on at least a portion of its surface. In this embodiment, the external shape of the object O varies from small objects such as 5 cm square to large objects such as 30 cm square. Furthermore, the object O varies from light objects such as several tens of grams to heavy objects such as several kilograms. However, the size and weight of the object O are not limited to the above example.

[0012] The destination V2 is, for example, a container such as a tote bag or an OriGan container. However, the destination V2 is not limited to the above example. In the following description, the "destination V2" will be referred to as the "destination container V2," and the "source V1" and the "destination V2" may be collectively referred to simply as the "container." Note that the transport system 1 may also transport the object O to a destination V2 other than a container.

[0013] The conveyance system 1 is not limited to a handling system for logistics. The conveyance system 1 can also be widely applied to industrial robot systems and other systems. The terms "conveyance system" and "handling device" used in this application are not limited to systems and devices whose main purpose is to transport objects, but also include systems and systems that involve transporting (moving) objects as part of product assembly or other purposes.

[0014] 1, the transport system 1 includes a handling device 10, a sensor 11, and a control device 12. The control device 12 may be incorporated into the handling device 10.

[0015] The handling device 10 is, for example, a robot device. The handling device 10 holds an object O located in a source container V1 and moves the held object O to a destination container V2 (storage area). The handling device 10 can communicate with a control device 12 via wire or wirelessly. In this embodiment, the handling device 10 has a first handling device 10A and a second handling device 10B.

[0016] The first handling device 10A has, for example, an arm 100 and a first holding part 200A provided at the tip of the arm 100.

[0017] The arm 100 is a movement mechanism that moves the first holding unit 200A to a desired position. For example, the arm 100 is a six-axis vertical articulated robot arm. The arm 100 can assume various positions and postures. Like a human arm or hand, the arm 100 can also assume a wide variety of postures for holding an object. The arm 100 includes, for example, a plurality of arm members 101 and a plurality of rotating units 102 that rotatably connect the plurality of arm members 101.

[0018] The arm 100 may be a three-axis Cartesian robot arm. The arm 100 may be a mechanism that moves the first holding unit 200A to a desired position using other configurations. For example, the arm 100 may be an aircraft (e.g., a drone) that lifts and moves the first holding unit 200A using rotors.

[0019] The first holding unit 200A is a holding mechanism (end effector) that holds the object O located in the source container V1. For example, the first holding unit 200A has a suction device 203 and a suction unit 205 that communicates with the suction device 203. The first holding unit 200A is a suction-type hand that holds the object O by suction.

[0020] The first holding unit 200A may be a mechanism that holds the object O using other holding methods. For example, the first holding unit 200A may be a holding unit that can hold the object O using magnetic force. For example, the first holding unit 200A may be a holding unit (e.g., a jamming gripper) that is composed of a flexible membrane filled with powder and a vacuum pump that removes air from inside the flexible membrane and that can hold the object O using a jamming phenomenon.

[0021] The suction device 203 is, for example, a vacuum pump. The suction device 203 is in communication with each of the plurality of suction units 205 via a hose or the like. When the suction device 203 is driven, the pressure inside each suction unit 205 becomes lower than atmospheric pressure, and the object O is sucked and held by the suction unit 205.

[0022] The suction unit 205 is provided on the fingertips of the clamping hand 202. A plurality of suction units 205 are provided on the fingertips of the clamping hand 202. The suction units 205 have an outer shape smaller than the smallest object O located in the source container V1. The first handling device 10A suctions and holds the object O using only one or more suction units 205 selected from the plurality of suction units 205.

[0023] The second handling device 10B has, for example, an arm (second arm) 100 and a second holding part 200B provided at the tip of the arm 100. The arm 100 of the second handling device 10B has a similar configuration to the arm 100 of the first handling device 10A.

[0024] The second holding unit 200B is a holding mechanism (end effector) that holds the object O located in the source container V1. For example, the second holding unit 200B has a clamping hand 202, a suction device 203, and a suction unit 205 that communicates with the suction device 203. The second holding unit 200B is a hybrid hand that holds the object O by clamping and / or suction.

[0025] The clamping hand 202 is a gripper-type hand that pinches and grasps the object O between two fingers, and is provided at the tip of the arm 100. The configuration of the clamping hand 202 is not limited to this, and may be, for example, a gripper-type hand that pinches and grasps the object O between three fingers.

[0026] The suction unit 205 is provided on the fingertip of the clamping hand 202. A plurality of suction units 205 may be provided on the fingertip of the clamping hand 202.

[0027] In the following description, the "first holding portion 200A" and the "second holding portion 200B" may be collectively referred to simply as the "holding portion 200."

[0028] The sensor 11 is capable of detecting a plurality of objects O under the control of the control device 12. The sensor 11 includes a first sensor 11A and a second sensor 11B. The first sensor 11A and the second sensor 11B are connected to the control device 12 by wire or wirelessly.

[0029] The first sensor 11A is a camera or various sensors arranged near the source V1 (for example, directly above or diagonally above the source V1). The first sensor 11A acquires, for example, information about the object O located at the source V1 and information about the source V1. The information acquired by the first sensor 11A includes, for example, "image data," "distance image data," and "shape data." "Distance image data" is image data having distance information in one or more directions (for example, depth information from an arbitrary reference plane set above the source V1). "Shape data" is information indicating the outer shape of the object O, etc. The information detected by the first sensor 11A is output to the control device 12. The first sensor 11A may be provided as part of the handling device 10.

[0030] The second sensor 11B is a camera or various sensors arranged near the destination container V2 (for example, directly above or diagonally above the destination container V2). The second sensor 11B detects, for example, information about the shape of the destination container V2 (including the shapes of the inner wall surfaces and partitions) and information about the object O previously placed in the destination container V2. The information acquired by the second sensor 11B includes, for example, "image data," "distance image data," and "shape data." The information detected by the second sensor 11B is output to the control device 12. The second sensor 11B may be provided as part of the handling device 10.

[0031] The control device 12 manages and controls the entire conveyance system 1. For example, the control device 12 acquires information detected by the first sensor 11A and the second sensor 11B, and controls the handling device 10 based on the acquired information. The control device 12 is, for example, a programmable device (computer) equipped with a processor, a memory, a storage unit, etc.

[0032] Some or all of the functions of the control device 12 are realized by one or more processors, such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), executing programs stored in a program memory. However, some or all of these functions may be realized by hardware (e.g., circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a PLD (Programmable Logic Device). Some or all of the functions may also be realized by a combination of software and hardware. The storage unit may be realized by a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), a ROM (Read-Only Memory), a RAM (Random Access Memory), or the like.

[0033] Shape data relating to the object O to be picked is recorded in the storage unit of the control device 12. The shape data stored in the storage unit is defined in the local coordinate system of the object O.

[0034] Next, the operation of the transport system 1 will be described with reference to the control flowchart of the control device 12 shown in FIG.

[0035] When the control device 12 is started, the control device 12 initializes the handling device 10 and the sensor 11, and then starts controlling the handling device 10 (step S0). Next, the control device 12 executes step S1.

[0036] In step S1, the control device 12 receives an order list of objects O to be picked from an operator or the system. The control device 12 acquires image data, range image data, shape data, etc. related to the objects O in the source container V1 using the first sensor 11A. The control device 12 determines whether the object O listed in the order list is present in the source container V1. The control device 12 also acquires information related to the shape, position, posture, etc. of the objects O to be picked (information acquisition process).

[0037] FIG. 3 is a diagram showing a temporary mask region R1 in the image data of the object O. The control device 12 uses a known image segmentation method to set a rectangular area (circumscribed rectangular area) circumscribing the object O to be picked from the image data as a "temporary mask area R1." Image segmentation may be a method using machine learning.

[0038] FIG. 4 is a diagram showing a mask region R2 in the image data of the object O. The control device 12 sets the area obtained by extending the temporary mask area R1 in the vertical and horizontal directions as the "mask area R2." The mask area R2 is extended by a margin M in the vertical and horizontal directions of the circumscribed rectangular area. By using the extended mask area R2, the control device 12 can determine whether there is space around the object O that the clamping hand 202 can enter when the holding method used by the holding unit 200 is clamping.

[0039] FIG. 5 is a diagram showing a depth image D of an object O. The control device 12 uses the distance image data to generate a depth image D that visualizes the depth information of the object O in the mask region R2. The scale of the depth image D can be changed depending on the storage method used by the storage unit 200. The scale of the depth image D can be set to, for example, 1 mm per pixel.

[0040] Fig. 6 is a diagram illustrating the three-dimensional position and orientation of an object O. In Fig. 6, objects O with different shapes are denoted as "O1" and "O2." The control device 12 calculates the three-dimensional position and orientation of the object O1 from the acquired image data of the object O1. The control device 12 converts the shape data of the object O1 in the local coordinate system recorded in the memory unit into a world coordinate system (X-axis, Y-axis, Z-axis) using a transformation matrix. The Z-axis direction of the world coordinate system is the depth direction from an arbitrary reference plane set above the source container V1, as shown in Figure 6. The control device 12 calculates the three-dimensional position and orientation of the object O1 by comparing the acquired image data of the object O1 with the shape data converted into the world coordinate system.

[0041] 7 is a diagram showing a mask area R2 to which information about the three-dimensional position and orientation has been added. The control device 12 sets the reference three-dimensional position pose of the object O1 as the center CO of the circumscribed rectangular area (temporary mask area R1) in the mask image R2. In addition, the control device 12 may calculate and use the centroid FO of the object O1 separately from the center CO of the circumscribed rectangular area, taking into account the ease of gripping by the gripping hand 202.

[0042] The control device 12 may use a database that records the three-dimensional position and orientation of object O when it has been successfully picked up in the past. The control device 12 can also use the database to output a recommended holding method and holding position for object O.

[0043] Next, the control device 12 executes step S2. In step S2, the control device 12 calculates the ease with which the holding unit 200 holds the object O as a "score" based on the information acquired in step S1. The control device 12 calculates the score (1) for each object O, (2) for each holding method, and (3) for each type of handling device 10 (grand strategy determination process).

[0044] The score S used in step S2 is (1) for each object O, (2) for each holding method, and (3) for each type of handling device 10. Hα,β (Ii,j) is calculated, for example, by the evaluation function shown in Equation 1.

[0045]

number

[0046] In Equation 1, α is the type of handling device 10 (first handling device 10A, second handling device 10B, etc.), β is the holding method (suction, clamping, hybrid, etc.), and Ii,j is the mask region R2 of an arbitrary object O. 1~9 is the weight of the evaluation function. R is the rate of surfaces that can be picked up, C is the rate of flatness at the center, L is the placement rate of object O, F is the margin of the holding force of object O, G is the gap rate between multiple objects O, W is the margin of the hand opening width (margin of the holding part), and B is the unevenness rate of object O.

[0047] The evaluation function shown in Equation 1 is a linear combination of the evaluation items. The evaluation function that calculates the score may use the average value of the evaluation items, or may be changed to a nonlinear function. Furthermore, the evaluation items are not limited to the items described in Equation 1, and may be, for example, quantities that depend on the physical properties of the object O or the gripping hand 202.

[0048] The control device 12 selects the type of handling device 10 with the highest score as the type of handling device 10 to be used for picking. The type of handling device 10 (type of holder 200) suitable for picking is selected for each object O. At this time, the control device 12 selects the type of handling device 10 (type of holder 200) without specifically calculating the position where the object O is held or the posture of the arm 100. In this embodiment, the control device 12 selects either a first handling device 10A having a first holder 200A or a second handling device 10B having a second holder 200B.

[0049] Next, the control device 12 executes step S3. In step S3, the control device 12 calculates a "score" based on the information acquired in step S1, which represents the ease with which the holding unit 200 holds the object O and the ease of holding taking into account the loading status of the object O. The control device 12 calculates a score (1) for each object O and (2) for each holding method (medium strategy determination step).

[0050] 8 to 10 are diagrams showing an object O1 for which a score is calculated. When suction S is used as the holding method, the score is calculated using the evaluation function shown in Equation 2, which is similar to part of the evaluation function used in step S2. I1 to I3 in Figures 8 and 9 show examples of the mask region R2 of object O1 for which the score is calculated.

[0051]

number

[0052] When clamping P is used as the holding method, the score is calculated using the evaluation function shown in Equation 3, which is similar to part of the evaluation function used in step S2.

[0053]

number

[0054] The control device 12 may further change the evaluation function used to calculate the score, taking into account the loading status of the object O. Figures 11 to 13 are diagrams illustrating the evaluation function taking into account the loading status of the object O. The numbers shown in Figures 11 to 13 indicate the ranking of the score for each object O calculated from the evaluation function.

[0055] The control device 12 may prioritize an object O located at a higher position in the source container V1 as shown in Fig. 11. In this case, the evaluation function is calculated, for example, by f0 shown in Equation 4. In Equation 4, z is the height in the Z direction.

[0056]

number

[0057] As shown in FIG. 12, the control device 12 may prioritize an object O located at a high position in the source container V1 and at the center of the source container V1. In this case, the evaluation function is calculated, for example, by f1 shown in Equation 5 and Equation 6. In Equation 5, dist is the distance between the center of the object O and the center C1 of the top of the source container V1. In Equation 6, (x , y , z) is the position coordinate of object O in the world coordinate system. (x c, y c, z c ) are the coordinates of the center C1 of the top of the source container V1.

[0058]

number

[0059]

number

[0060] As shown in FIG. 13, the control device 12 may prioritize an object O that is located at a high position in the source container V1, at the center C1 of the source container V1, and is easy to hold. In this case, the evaluation function is calculated, for example, by f2 shown in Equation 7. f2 is a function for evaluating the unevenness of the object O. In Equation 7, I depth indicates the depth image D. The evaluation function is calculated, for example, by f3 shown in Equation 8. f3 is a function for evaluating the flatness of the object O. In Equation 7, (x d, y d ) indicates the variance of the area occupied by object O in the X-axis and Y-axis directions.

[0061]

number

[0062]

number

[0063]

number

[0064]

number

[0065] The control device 12 may use an evaluation function f shown in Equation 11, which is an integration of functions f0, f1, f2, and f3. For example, the weight w0 is 0.0, the weight w1 is 0.34, the weight w2 is 0.33, and the weight w3 is 0.33.

[0066]

number

[0067] The evaluation function f shown in Equation 11 is a linear combination of the evaluation items. The evaluation function f may use the average value of the evaluation items, or may be changed to a nonlinear function. Furthermore, the evaluation items are not limited to the items listed in Equation 9, and may be, for example, quantities dependent on the physical properties of the object O or the gripping hand 202.

[0068] Table 1 shows the scores calculated for each object O and each holding method. Table 2 shows the combinations of object O and each holding method sorted in descending order of score.

[0069] [Table 1]

[0070] [Table 2]

[0071] The control device 12 sorts the scores calculated for each object O and holding method shown in Table 1 in descending order of score as shown in Table 2. The control device 12 selects the combination of object O and holding method with the highest score as the object O and holding method with the highest priority. At this time, the control device 12 selects the object O to be held and the holding method without specifically calculating the position where object O will be held or the posture of the arm 100.

[0072] The control device 12 selects, for example, an object O having a predetermined score or more as the object O to be held. The control device 12 determines the order in which the multiple objects O are held based on the ranking of the scores shown in Table 2 (order determination step).

[0073] Next, the control device 12 executes steps S4, S5, and S6 corresponding to the holding method selected in step S3. In steps S4, S5, and S6, the control device 12 specifically calculates the position at which to hold the object O selected in step S3 and the posture of the arm 100 when holding it (plan generation step).

[0074] Step S4 is executed when the holding method for object O selected in step S3 is "clamping." In step S4, the control device 12 specifically calculates the position for clamping object O and the posture of arm 100 when clamping, using a method appropriately selected from known methods. If the holding methods for object O selected in step S3 do not include "clamping," the control device 12 does not execute step S4.

[0075] Step S5 is executed when the holding method for object O selected in step S3 is "suction." In step S5, the control device 12 specifically calculates the position for picking up object O and the posture of arm 100 when picking up object O, using a method appropriately selected from known methods. If the holding methods for object O selected in step S3 do not include "suction," the control device 12 does not execute step S5.

[0076] Step S6 is executed when the holding method for object O selected in step S3 is "clamping and suction (hybrid)." In step S5, the control device 12 specifically calculates the position for clamping and suctioning object O and the posture of arm 100 when clamping and suctioning, using a method appropriately selected from known methods. If the holding methods for object O selected in step S3 do not include "clamping and suction," the control device 12 does not execute step S6.

[0077] Calculating the position where object O is held and the posture of arm 100 requires a very large amount of calculation. The control device 12 only needs to calculate the position where object O is held and the posture of arm 100 for the selected object O. Therefore, the transport system 1 can significantly reduce the amount of calculation required compared to other transport systems that calculate the position where object O is held and the posture of arm 100 in order to select object O to be held.

[0078] Next, the control device 12 executes step S7. In step S7, the control device 12 controls the holding unit 200 and the arm 100 based on the position for holding the object O and the posture of the arm 100 calculated in steps S4, S5, and S6 (operation control method). The selected object O is transported by the handling device 10 from the source container V1 to the destination container V2.

[0079] Next, the control device 12 executes step S8. In step S8, the control device 12 determines whether an object O remains in the source container V1. If an object O remains in the source container V1, the control device 12 executes step S1 again. If an object O does not remain in the source container V1, the control device 12 executes step S9 and ends the control.

[0080] According to the transport system 1 of this embodiment, a holding strategy for holding object O can be efficiently determined. The control device 12 of the transport system 1 selects a holding strategy without specifically calculating the position at which object O is to be held or the posture of the arm 100. The holding strategy is, for example, selecting the type of handling device 10 to be used, the object O to be held, and the holding method. The control device 12 of the transport system 1 only needs to calculate the position at which object O is to be held and the posture of the arm 100 for the selected object O, which significantly reduces the amount of calculation required.

[0081] In each of the above embodiments, the handling device 10 includes the first handling device 10A and the second handling device 10B. The handling device 10 may further include a handling device that holds the object O by another holding method.

[0082] The method of calculating the scores in steps S2 and S3 is not limited to the rule-based algorithm described above, and may be performed using an algorithm that uses machine learning. For example, when supervised learning is assumed, the evaluation function specified above can be used as the evaluation value during learning. The learning algorithm is not limited to supervised learning, and can be changed depending on the type of learning, such as unsupervised learning or reinforcement learning.

[0083] According to at least one of the embodiments described above, a holding strategy is selected without specifically calculating the position at which the object O is held or the posture of the arm 100, so that a holding strategy for holding the target object can be efficiently determined.

[0084] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, as well as within the scope of the invention described in the claims and their equivalents. [Explanation of symbols]

[0085] REFERENCE SIGNS LIST 1...transport system, 10...handling device, 10A...first handling device, 10B...second handling device, 100...arm, 101...arm member, 102...rotating section, 200...holding section, 200A...first holding section, 200B...second holding section, 202...clamping hand, 203...suction device, 11...sensor, 11A...first sensor, 11B...second sensor, 12...control device

Claims

1. an arm having a joint; a holding unit attached to the arm and capable of holding an object by any one of different holding methods; a sensor capable of detecting a plurality of the objects; a control device that controls the arm and the holding unit; Equipped with The control device calculating, for each object, the ease of holding of each holding method corresponding to the object using a corresponding evaluation function, based on the information acquired from the sensor, as a score representing the ease of holding the object by the holding unit; changing the score according to the loading status of the object based on at least one of the height of the loaded object, the distance from the center of the top of the container in which the object is placed to the object, and the flatness of the object; selecting an order for holding the plurality of objects and a holding method for each of the objects based on the score; calculating a position at which the object is held and a posture of the arm according to the holding method selected based on the score; Handling equipment.

2. a second arm having a joint; a second holding part attached to the second arm and having a holding method different from that of the holding part; and the control device calculates the score for each of the holding unit and the second holding unit, and selects, for each of the objects, either the holding unit or the second holding unit to be used based on the score; 2. A handling device according to claim 1.

3. the control device calculates the score based on at least one of an adsorbable surface ratio of the object, a central flatness ratio of the object, an arrangement ratio of the object, a margin of holding force of the object, a gap ratio between a plurality of the objects, a margin of the holding part when holding the object, and an unevenness ratio of the object.

3. A handling device according to claim 2.

4. The control device When the holding method is suction, the score is calculated based on at least one of a suction surface ratio of the object and a central flatness ratio of the object; When the holding method is clamping, the score is calculated based on at least one of a gap ratio between the plurality of objects, a margin of the holding portion when holding the objects, and an unevenness ratio of the objects.

2. A handling device according to claim 1.

5. the control device controls the arm and the holding unit based on the calculated position at which the object is held and the calculated posture of the arm.

5. A handling device according to any one of claims 1 to 4.

6. The flatness of the object is the unevenness of the object or the flatness of the object.

6. A handling device according to any one of claims 1 to 5.

7. an arm having a joint; a holding unit attached to the arm and capable of holding an object by any one of different holding methods; a sensor capable of detecting a plurality of the objects; A control device for controlling a conveyance system comprising: calculating, for each object, the ease of holding of each holding method corresponding to the object using a corresponding evaluation function, based on the information acquired from the sensor, as a score representing the ease of holding the object by the holding unit; changing the score according to the loading status of the object based on at least one of the height of the loaded object, the distance from the center of the top of the container in which the object is placed to the object, and the flatness of the object; selecting an order for holding the plurality of objects and a holding method for each of the objects based on the score; calculating a position at which the object is held and a posture of the arm according to the holding method selected based on the score; Control device.

8. The transport system includes: a second arm having a joint; a second holding part attached to the second arm and having a holding method different from that of the holding part; and calculating the score for each of the holding unit and the second holding unit, and selecting, for each of the objects, whether to use the holding unit or the second holding unit based on the score; The control device according to claim 7.

9. The score is calculated based on at least one of the adsorbable surface rate of the object, the central flatness rate of the object, the arrangement rate of the object, the margin of the holding force of the object, the gap rate between the plurality of objects, the margin of the holding part when holding the object, and the unevenness rate of the object. The control device according to claim 8.

10. When the holding method is suction, the score is calculated based on at least one of a suction surface ratio of the object and a central flatness ratio of the object; When the holding method is clamping, the score is calculated based on at least one of a gap ratio between the plurality of objects, a margin of the holding portion when holding the objects, and an unevenness ratio of the objects. The control device according to claim 7.

11. controlling the arm and the holding unit based on the calculated position at which the object is held and the calculated posture of the arm; The control device according to any one of claims 7 to 10.

12. The flatness of the object is the unevenness of the object or the flatness of the object. The control device according to any one of claims 7 to 11.

13. an arm having a joint; a holding unit attached to the arm and capable of holding an object by any one of different holding methods; a sensor capable of detecting a plurality of the objects; a control device that controls the arm and the holding unit; A control program for controlling a handling device comprising: causing the control device to calculate, for each of the objects, an ease of holding of each holding method corresponding to the object using a corresponding evaluation function, based on the information acquired from the sensor, with the ease of holding of the object by the holding unit as a score; changing the score according to the loading status of the object based on at least one of the height of the loaded object, the distance from the center of the top of the container in which the object is placed to the object, and the flatness of the object; selecting an order for holding the plurality of objects and a holding method for each of the objects based on the score; calculating a position at which the object is held and a posture of the arm according to the holding method selected based on the score; Control program.

14. The handling device a second arm having a joint; a second holding part attached to the second arm and having a holding method different from that of the holding part; and calculating the score for each of the holding unit and the second holding unit, and selecting, for each of the objects, either the holding unit or the second holding unit to be used based on the score; The control program according to claim 13.

15. calculating the score based on at least one of an adsorbable surface ratio of the object, a central flatness ratio of the object, an arrangement ratio of the object, a margin of holding force of the object, a gap ratio between a plurality of the objects, a margin of the holding part when holding the object, and an unevenness ratio of the object; The control program according to claim 14.

16. When the holding method is suction, the score is calculated based on at least one of a suction surface ratio of the object and a central flatness ratio of the object; When the holding method is clamping, the score is calculated based on at least one of a gap ratio between the plurality of objects, a margin of the holding portion when holding the objects, and an unevenness ratio of the objects. The control program according to claim 13.

17. controlling the arm and the holding unit based on the calculated position at which the object is held and the calculated posture of the arm; The control program according to any one of claims 13 to 16.

18. The flatness of the object is the unevenness of the object or the flatness of the object. The control program according to any one of claims 13 to 17.

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