Article handling apparatus and method of operating the same
According to one embodiment, an article handling apparatus includes a gripper, a supporting portion, a sensor, and controller. The gripper grips an article. The supporting portion supports an article from below. The sensor recognizes a plurality of articles to generate a recognition result. The controller calculates a position of a first article located highest among the plurality of articles based on the recognition result, calculates a position of a second article located second highest in a region determined based on the position of the first article, controls movement of the gripper based on the position of the first article, and controls the movement of the supporting portion based on the position of the second article.
1. An article handling apparatus comprising:
a gripper which grips an article;
a supporting portion which supports an article from below;
a sensor which recognizes a plurality of articles to generate a recognition result; and
a controller which calculates a position of a first edge of a first article located highest among the plurality of articles based on the recognition result, the first edge being formed by an upper surface and a side surface of the first article, calculates a position of a second edge of a second article located second highest in a region determined based on the position of the first edge of the first article, the second edge being formed by an upper surface and a side surface of the second article, controls movement of the gripper based on the position of the first edge of the first article, and controls the movement of the supporting portion based on the position of the first edge of the first article and the position of the second edge of the second article, wherein the controller performs a process of detecting a bottom of the first article based on the recognition result by the sensor during a period in which the first article is lifted up using the gripper, and the controller stops moving the gripper upward after detecting the bottom of the first article.
2. The apparatus according to claim 1 , wherein the controller moves the gripper in a horizontal direction with respect to the plurality of articles after stopping moving the gripper upward.
3. The apparatus according to claim 1 , wherein if the gripper reaches a movable range limit while the first article is lifted up using the gripper, the controller controls the gripper to take out an article different from the first article, without retreating the gripper to a recognition position where the sensor performs recognition.
4. The apparatus according to claim 1 , wherein the controller controls the gripper to place the first article back to an original position if the gripper reaches a movable range limit before the bottom of the first article is detected.
5. The apparatus according to claim 1 , wherein if the gripper reaches a movable range limit while the first article is lifted up using the gripper, the controller calculates a position of a third article located highest among the plurality of articles except for the first article, calculates a position of a fourth article located second highest in a region determined based on the position of the third article, controls movement of the gripper based on the position of the third article, and controls movement of the supporting portion based on the position of the fourth article.
6. An article handling apparatus comprising:
a gripper which grips an article;
a supporting portion which supports an article from below;
a database in which information about a plurality of articles is registered; and
a controller which calculates a position of a first edge of a first article located highest among the plurality of articles by referring to the database, the first edge being formed by an upper surface and a side surface of the first article, calculates a position of a second edge of a second article located second highest in a region determined based on the position of the first edge of the first article, the second edge being formed by an upper surface and a side surface of the second article, controls movement of the gripper based on the position of the first edge of the first article, and controls the movement of the supporting portion based on the position of the first edge of the first article and the position of the second edge of the second article, wherein the controller performs a process of detecting a bottom of the first article based on a result of recognition by the sensor during a period in which the first article is lifted up using the gripper, and the controller stops moving the gripper upward after detecting the bottom of the first article.