CONTROL DEVICE, HOLDING SYSTEM, CARGO HANDLING DEVICE, PROCESSING METHOD, AND STORAGE MEDIUM

1 . A control device for controlling a holding device capable of holding an object,

the control device being configured to

calculate a first position at which a first object is held by the holding device,

determine whether the holding device is capable of coming into contact with another object when the holding device is present at the first position, and

calculate a second position at which the holding device comes into contact with the first object and does not come into contact with the other object in a case where the holding device is capable of coming into contact with the other object.

2 . The device according to claim 1 , wherein

a first measurement result is received from a first measuring instrument configured to measure the object from the first direction,

the first measurement result includes a position and a size of the object on a first surface intersecting a first direction, and

the first position is calculated using the first measurement result.

3 . The device according to claim 2 , wherein

in the determination, it is determined whether the holding device is capable of coming into contact with the other object using the first measurement result and a measurement error on the first surface.

4 . The device according to claim 2 , wherein

a second measurement result is received from a second measuring instrument configured to measure a size of the object from a direction intersecting the first direction,

the second measurement result includes a position of the object on the first surface and a size of the object on a second surface crossing the intersecting direction is received, and

the first position is calculated using the first measurement result and the second measurement result.

5 . The device according to claim 4 , wherein

in the determination, it is determined whether the holding device is capable of coming into contact with the other object using the first measurement result, the second measurement result, and a measurement error on the first surface.

6 . The device according to claim 3 , wherein

in the determination,

a first region is calculated by adding the measurement error to a holding region capable of holding an article in the holding device, and

in a case where the first region is aligned with the other object in the first direction and a distance in the first direction between a first surface of the first object intersecting the first direction and a second surface of the other object intersecting the first direction is less than a predetermined threshold, it is determined that the holding device is capable of coming into contact with the other object.

7 . The device according to claim 1 , wherein

in a case where the holding device is capable of coming into contact with the other object, the second position is calculated by changing a position of the holding device from the first position from a contact region between the holding device and the other object toward a contact region between the holding device and the first object.

8 . The device according to claim 1 , wherein

it is determined whether the first object is capable of being held by the holding device at the second position, and

in a case where the first object is capable of being held, the holding device is caused to hold the first object.

9 . The device according to claim 8 , wherein

in a case where the holding device is not capable of holding the first object at the second position, another first position at which a second object is held by the holding device is calculated.

10 . The device according to claim 1 , wherein

the holding device includes a plurality of suction pads, and

at least a part of the plurality of the suction pads holds an upper surface of the first object.

11 . A holding system comprising:

the control device according to claim 1 ; and

the holding device including a plurality of suction pads, wherein

the control device causes at least a part of the plurality of the suction pads to hold the first object at the first position or the second position.

12 . The system according to claim 11 , wherein

the control device causes the holding device to convey the held first object, and

a conveying speed when the first object is held at the second position is lower than a conveying speed when the first object is held at the first position.

13 . The system according to claim 11 , wherein

the holding device includes

a plurality of flow paths respectively connected to the plurality of suction pads, and

a plurality of throttle joints respectively provided in the plurality of flow paths, and configured to close the flow paths according to an air flow.

14 . A cargo handling device comprising:

the control device according to claim 1 ;

the holding device including a plurality of suction pads; and

a conveying device on which the first object held by the holding device is placed and which conveys the placed first object.

15 . A processing method comprising:

causing a computer to

calculate a first position at which a first object is held by a holding device;

determine whether the holding device is capable of coming into contact with another object when the holding device is present at the first position; and

calculate a second position at which the holding device comes into contact with the first object and does not come into contact with the other object in a case where the holding device is capable of coming into contact with the other object.

16 . A non-transitory computer-readable storage medium storing a program for causing a computer to execute the processing method according to claim 15 .