Object handling device and computer program product

1. An object handling device that causes a hand to grasp and transfer a cuboid object into a container, the object handling device comprising one or more processors configured to:

generate object information of a grasped cuboid object from an image obtained by imaging the cuboid object grasped by the hand, the object information including a shape of the cuboid object;

calculate a placement position of the object in the container on the basis of information on an obstacle in the container, an interference region of the hand interfering with another object, and an interference region of the grasped object interfering with the another object;

determine, based on the object information, whether an angle between a diagonal line on a side surface of the cuboid object and a vertical side of the side surface of the cuboid object is larger than a predetermined angle;

when the angle is larger than the predetermined angle, determine that the grasped object is a subject of upside release that has high physical stability and low possibility of tipping over when released from above; and

in response to the grasped object being the subject of upside release, calculate, as a release position of the grasped object, a position vertically above the placement position within a given distance.

2. The object handling device according to claim 1 , wherein

the processors set the release position such that the grasped object is placed vertically directly above the placement position.

3. The object handling device according to claim 2 , wherein

the processors calculate the release position such that the interference region of the hand does not interfere with the container or the obstacle in the container.

4. The object handling device according to claim 1 , wherein

the processors calculate an amount of geometric or dynamic features of the object to release, calculate a distance between the placement position and a position of the object when released, and calculates a height of the release position for maintaining physical stability of the object after released.

5. An object handling device that causes a hand to grasp and transfer an object into a container, the object handling device comprising one or more processors configured to:

search for, to place a new object of a cuboid shape in the container containing a previously set object of a cuboid shape while pressing the new object against the previously set object on the basis of information on an obstacle in the container, two surfaces of the previously set object and the new object to become a contact surface such that an area of the contact surface is as large as possible and that a difference in area between the two surfaces is as small as possible; and

calculate at least a placement position among the placement position and a placement posture of the object in the container on the basis of a result of the search, wherein

the processors calculate a pressing-plane score SCR by the following Expression:

SCR

=

S

Com

S

From

+

S

Side

×

(

1

-



S

From

-

S

To



S

From

+

S

To

)

wherein S To represents an area of a pressed surface of the previously set object against which the new object is pressed, S From represents an area of a pressing surface of the new object pressing the previously set object, S Side represents an area of a side surface of the new object located in a direction intersecting a pressing direction, and S Com represents an area of contact between the previously set object and the new object, and

the processors search for two surfaces with a higher pressing-plane score SCR to be the contact surface.