Conveying device, conveying system, and conveying method

1. A conveying device comprising:

a controller configured to determine a moving direction of a holder holding a first object based on a state of overlapping between the first object and a second object viewed in a conveying direction of the first object in a case where the second object is positioned in the conveying direction of the first object with respect to the first object.

2. The conveying device according to claim 1 , wherein

the controller is configured to determine the moving direction of the holder holding the first object based on a first overlapping width between the first object and the second object and a second overlapping width between the first object and the second object, which are viewed in the conveying direction of the first object, the first overlapping width is in a first direction, and the second overlapping width is in a second direction that is different from the first direction.

3. The conveying device according to claim 1 , further comprising:

an information acquirer configured to acquire information related to at least the first object and the second object,

wherein the controller is configured to determine the moving direction of the holder holding the first object based on a first overlapping width between the first object and the second object and a second overlapping width between the first object and the second object, the first overlapping width and the second overlapping width are on a projection plane that is viewed in a direction substantially parallel to the conveying direction, the first overlapping width is in a first direction, the second overlapping width is in a second direction that is different from the first direction, the first overlapping width and the second overlapping width are based on the information acquired by the information acquirer.

4. The conveying device according to claim 3 , wherein

the controller is configured to move the holder in the first direction if the first overlapping width is smaller than the second overlapping width, and to move the holder in the second direction if the second overlapping width is smaller than the first overlapping width.

5. The conveying device according to claim 3 , wherein

the controller comprises:

a calculator configured to calculate the first overlapping width and the second overlapping width based on the information acquired by the information acquirer; and

a determiner configured to determine the moving direction of the holder by comparing the first overlapping width and the second overlapping width which are calculated by the calculator.

6. The conveying device according to claim 3 , wherein

the information acquirer is configured to acquire information related to a plurality of objects including the first object and the second object, and

the second object is an object having a top surface at the highest position among objects positioned in the conveying direction of the first object with respect to the first object.

7. The conveying device according to claim 6 , wherein

the plurality of objects includes a third object having a top surface positioned at a position that is lower than the top surface of the second object and higher than a bottom surface of the first object, and

the controller is configured to determine the moving direction of the holder based on the first overlapping width and the second overlapping width in a state in which the bottom surface of the first object is raised up to a height higher than the top surface of the third object.

8. The conveying device according to claim 6 , wherein

the plurality of objects includes a plurality of surrounding objects placed in at least one of a front region positioned in the conveying direction with respect to the first object and lateral regions positioned on both sides of the front region and on both sides of the first object in a direction different from the conveying direction, and

the third object is an object having a top surface at the highest position among the plurality of surrounding objects except the second object.

9. The conveying device according to claim 3 , wherein

the information acquirer is configured to acquire information related to an obstacle including a portion located above a top surface of the second object, and

the controller is configured to determine the moving direction of the holder based on a third overlapping width between the first object and the obstacle and a fourth overlapping width between the first object and the obstacle instead of the first overlapping width and the second overlapping width in a case where the information related to the obstacle is acquired by the information acquirer, the third overlapping width and the fourth overlapping width are on the projection plane, the third overlapping width is in the first direction, and the fourth overlapping width is in the second direction.

10. The conveying device according to claim 3 , wherein

the second object has a top surface at a lower position than a top surface of the first object, the position being on a downstream side of the first object in the conveying direction, and

the controller is configured to determine the second object as a takeout target object which is taken out earlier than the first object in a case where at least one of: a first condition that a height difference between the top surface of the first object and the top surface of the second object is smaller than a predetermined height; and a second condition that a distance in the conveying direction between a downstream side end of the second object and a downstream side end of the first object in the conveying direction is larger than a predetermined length is satisfied.

11. The conveying device according to claim 10 , wherein

the controller is configured to determine the second object as the takeout target object which is taken out earlier than the first object in a case where the height difference between the top surface of the first object and the top surface of the second object is smaller than the predetermined height and the distance in the conveying direction between the downstream side end of the second object and the downstream side end of the first object in the conveying direction is larger than the predetermined length.

12. The conveying device according to claim 10 , further comprising

a conveyor configured to receive the first object taken out by the holder and to convey the first object.

13. A conveying system comprising:

a determiner configured to determine a moving direction of a holder holding a first object based on a state of overlapping between the first object and a second object viewed in a conveying direction of the first object in a case where the second object is positioned in the conveying direction of the first object with respect to the first object.

14. A conveying method comprising:

determining a moving direction of a holder holding a first object based on a state of overlapping between the first object and a second object viewed in a conveying direction of the first object in a case where the second object is positioned in the conveying direction of the first object with respect to the first object.