JP2024062153A - Hand and handling device with shape recognition function, and control method thereof - Google Patents

Abstract

[Problem] To provide a hand and handling device with a shape recognition function that enables handling of an object with a simple configuration, and a control method thereof. [Solution] A hand 14 with a shape recognition function has a hand means 19 for gripping an object 40, two-dimensional optical sensors 37, 38 for irradiating line lights 41, 42 onto the object 40, and a shape recognition means 20 equipped with a detection sensor 39 for the line lights 41, 42, the two-dimensional optical sensors 37, 38 being attached to the hand means 19 so that the irradiated line lights 41, 42 intersect, and a control means for the hand means 19 and the shape recognition means 20 performs a process for identifying the three-dimensional shape of the object 40 from the line lights 41, 42 that are irradiated from different positions and detected while moving the hand means 19 a preset distance, and causes the hand means 19 to grip the object 40 based on this. A handling device 10 is provided with a hand 14 with a shape recognition function. [Selected Figure] Fig. 9

Description

The present invention relates to a hand and handling device equipped with a shape recognition function that recognizes the three-dimensional shape (3D shape) of an object and performs a handling operation, as well as a control method thereof.

In recent years, the development of random picking technology using robots (handling devices) has progressed significantly. This random picking technology is, for example, a technology for picking out one workpiece from workpieces (components) randomly stacked in a box.
As examples of random picking techniques, the following techniques have been disclosed:
Patent Document 1 discloses a technology for recognizing the 3D shape of an object using four cameras and picking up the object with a robot hand.
Patent Document 2 discloses a technology for recognizing the 3D shape of an object using a 3D scanner and a camera, and for picking up the object using a robot hand.

JP 2022-17739 A JP 2020-179355 A

However, the above-mentioned conventional techniques still have the following problems to be solved.
In the technology described in Patent Document 1, the four cameras and the robot hand are configured separately, and equipment is required to install the four cameras above the object, resulting in a large-scale equipment configuration. In addition, advanced software is required to recognize the 3D shape of the object, and complex initial settings are also required. If the initial settings are not accurate, there is a risk that corrections cannot be made to grasp the object with the robot hand.
The technology described in Patent Document 2 also requires equipment for installing a 3D scanner and camera above the object, as well as advanced software for recognizing the 3D shape of the object.
In order to simplify (compact) the configuration, it is also possible to attach a 3D scanner and a camera to the robot hand. However, if distance accuracy is required to recognize the 3D shape of an object, the 3D scanner and the camera must be installed with a certain distance between them, but if they are attached to the robot hand, there is a problem that the distance cannot be secured.

The present invention was made in consideration of these circumstances, and aims to provide a hand and handling device equipped with a shape recognition function that enables handling of objects with a simple configuration, as well as a control method for the same.

A hand equipped with a shape recognition function according to a first aspect of the present invention that satisfies the above-mentioned object is a hand equipped with a shape recognition function that is detachably provided to a handling device that handles an object,
hand means for gripping the object;
a shape recognition means attached to the hand means, the shape recognition means including two two-dimensional optical sensors for irradiating a line of light onto the object, and a detection sensor for detecting the line of light irradiated onto the object;
a control means for controlling the hand means and the shape recognition means,
the two two-dimensional optical sensors of the shape recognition means are attached to the hand means so that the line lights emitted by each of them intersect;
The control means moves the hand means a predetermined distance, performs a process to identify the three-dimensional shape of the object from line light that is irradiated onto the object from different positions and detected, and causes the hand means to grasp the object based on the identified three-dimensional shape.
Here, it is preferable that the two two-dimensional optical sensors are attached to the hand means so that the two lines of light irradiated onto the object are perpendicular to each other.

In the hand with shape recognition function of the first invention, it is preferable that the hand means has a palm portion and a plurality of finger portions attached to the outer periphery of the palm portion in a protruding state with spaces between them, and the shape recognition means is attached to the palm portion.
Here, the number of finger portions is three, the bases of at least two of the finger portions are rotatably attached to the palm portion, the two rotatably attached finger portions are aligned in the same direction, and the distance between the two finger portions and the other finger portion can be adjusted.

A handling device according to a second aspect of the present invention that meets the above-mentioned objective is provided with a hand having a shape recognition function according to the first aspect of the present invention.
Here, the handling device according to the second aspect of the present invention has boom means which is telescopically extendable and retractable, and the hand equipped with the shape recognition function can be attached to the tip of the boom means.
In addition, the handling device according to the second aspect of the present invention may have arm means composed of a plurality of joints, and the hand having the shape recognition function may be attached to the tip of the arm means.

A third invention, which is in line with the above object, is a method for controlling a handling device, in which the two two-dimensional optical sensors each irradiate a line of light toward the object, and the detection sensor detects the line of light irradiated toward the object while moving the hand means a preset distance.

The hand with shape recognition function of the first invention has hand means for grasping an object, shape recognition means attached thereto, and control means for controlling the hand means and the shape recognition means, thereby eliminating the need for large-scale equipment as in the conventional art and enabling the device configuration to be made compact.
In particular, the shape recognition means is equipped with two two-dimensional optical sensors that irradiate the target object with intersecting lines of light, and a detection sensor that detects the line of light irradiated onto the target object, thereby eliminating the need for the four cameras and 3D scanners that were previously used, making it cheaper.
Furthermore, the control means performs a process of identifying the three-dimensional shape of the object by moving the hand means, to which the shape recognition means is attached, a preset distance, and causes the hand means to grasp the object based on this identified three-dimensional shape. This eliminates the need for advanced software or initial settings as in the past, making the device extremely easy to use.
In addition, the handling device of the second invention has a hand equipped with the shape recognition function of the first invention, and its control method involves two two-dimensional optical sensors each irradiating a line of light toward an object, and a detection sensor detecting the line of light irradiated onto the object while moving the hand means a predetermined distance, thereby making it possible to handle the object with a simple configuration.

1 is an explanatory diagram of a handling device according to an embodiment of the present invention; 1 is a perspective view of a hand provided with a shape recognition function and seen from above in the handling device. FIG. FIG. 2 is a perspective view of the hand equipped with the shape recognition function as viewed obliquely from below. FIG. 2 is a bottom view of the hand equipped with the shape recognition function. 11 is an explanatory diagram of a rotation mechanism of the hand equipped with the shape recognition function. FIG. 11 is an explanatory diagram showing a method for changing the usage form of the hand equipped with the shape recognition function. FIG. FIG. 13 is a perspective view of the hand equipped with the shape recognition function in a modified form of use, as viewed from above. 13 is an explanatory diagram showing the hand equipped with the shape recognition function from the bottom with the rotation mechanism visible. FIG. 1 is an explanatory diagram showing a usage state of a hand having a shape recognition function provided in a handling device according to an embodiment of the present invention; 4 is an explanatory diagram showing a method of using the handling device. FIG. 11 is an explanatory diagram showing another method of using the handling device. FIG.

Next, with reference to the attached drawings, an embodiment of the present invention will be described for better understanding of the present invention.
1, a handling device 10 according to an embodiment of the present invention is a device having a dolly 12 capable of traveling on a floor surface 11, an extendable boom means 13 attached and fixed on the dolly 12, and a hand (hereinafter also referred to as a shape recognition hand) 14 equipped with a shape recognition function according to an embodiment of the present invention, which is detachably attached to the tip of the boom means 13, and which enables handling of an object (not shown) with a simple configuration. Note that the object to be grasped by the shape recognition hand 14 is not particularly limited, and may be, for example, various devices, parts, food, etc., and may have various shapes (for example, rod-like, plate-like, or spherical), masses, and sizes.
The details are explained below.

The boom means 13 is provided on a support base 15 fixedly attached to the cart 12 so as to be rotatable (swivelable) within a horizontal plane and tiltable in the vertical direction. The height of the boom means 13 from the floor surface 11 (the tilting fulcrum of the boom means 13) is set so that the boom means 13 can be tilted, for example, within a range of ±45 degrees (preferably 30 degrees) in the vertical direction with respect to the horizontal direction.
As described above, the support base 15 is attached and fixed onto the cart 12, and the boom means 13 is configured to be movable, but this is not particularly limited, and the support base 15 can be attached and fixed to other moving means other than the cart to make it movable, or the support base 15 can be attached and fixed onto the floor surface 11 to make it immovable.

The boom means 13 includes a main boom member 16 and two (a plurality of) forward and backward boom members 17, 18.
The main boom member 16 and the advancing/retreating boom members 17, 18 are each shaped like a square tube with an inner width that gradually decreases. The two advancing/retreating boom members 17, 18 are sequentially inserted into the main boom member 16 so as to be slidable in the longitudinal direction of the main boom member 16 (the direction in which the boom means 13 extends and retracts). Each of the advancing/retreating boom members 17, 18 is configured in a telescopic shape that extends and retracts by advancing and retracting relative to the main boom member 16.
In the boom means 13, the advance/retract boom members 17, 18 are moved forward and backward sequentially relative to the main boom member 16 by a drive means (not shown), but they can also be moved forward and backward in parallel (approximately simultaneously).

A shape recognition hand 14 is attached to the tip of the boom means 13 (i.e., the tip of the advance/retreat boom member 18) so as to be rotatable around the axis of the boom means 13 and/or so as to be tiltable relative to the axis of the boom means 13.
As shown in FIGS. 1 to 5, the shape recognition hand 14 has a hand means 19, a shape recognition means 20 attached to the hand means 19, and a control means (not shown) for controlling the hand means 19 and the shape recognition means 20.
The hand means 19 has a detachable mounting portion 21 attached to the tip of the boom means 13 (advancing/retreating boom member 18), a palm portion 22 attached and fixed to this mounting portion 21, and three (multiple) fingers 23-25 attached to the outer periphery of the palm portion 22 at equal intervals (at the vertices of an equilateral triangle) and protruding outward from the palm portion 22 (diagonally downward in Figure 2), and a shape recognition means 20 is attached to the palm portion 22.

As shown in Figures 2 and 3, the palm portion 22 has a sliding plate 26 and a fixed plate 27 arranged in parallel with a gap between them, and the bases of the fingers 24 and 25 are attached to the fixed plate 27 so as to be rotatable about their respective axes, while the base of the other finger portion 23 is attached and fixed so as not to be rotatable.
The fixed plate 27 is connected to the mounting portion 21 by a plurality of guide rods 28, and the sliding plate 26 is attached so as to be movable back and forth along the guide rods 28 by a motor (driving means) 29 attached and fixed to the mounting portion 21 as shown in Figures 1 to 3.
Each finger portion 23 to 25 is provided with two or more joints 30 (or just one) and a link mechanism 31 (composed of a cylinder, etc.) so that the distance between the tips of the opposing fingers 23 to 25 can be adjusted, and the base end of the link mechanism 31 is rotatably attached to the sliding plate 26.
This allows the hand means 19 to grip an object by reciprocating the sliding plate 26 using the motor 29 and adjusting the distance between the three fingers 23 to 25.

4 and 5, a rotation mechanism 32 (comprised of a plurality of gears, etc.) for simultaneously rotating two of the three fingers 23 to 25 relative to the fixed plate 27 (palm portion 22) is attached to the fixed plate 27. For ease of explanation, an attachment plate 33, etc., shown in FIG. 4 and described later, is omitted in FIG. 5 (the same applies to FIGS. 6, 7, and 8, which will be described later).
By operating this rotation mechanism 32 and rotating the bases of the two finger portions 24, 25 relative to the fixed plate 27 (palm portion 22) as shown in Fig. 6, for example, the two finger portions 24, 25 can be arranged in the same direction (parallel with a gap between them) as shown in Figs. 7 and 8. Note that Fig. 7 does not show the motor 29 shown in Fig. 2. The operation of the rotation mechanism 32 can be performed manually or automatically (by a motor or the like). The two finger portions 24, 25 can also be configured to be rotatable individually.
This makes it possible to adjust the distance between the two fingers 24, 25 and the other finger 23, making it possible to grasp an object.

As shown in FIGS. 2 to 4, the shape recognition means 20 is attached and fixed to the fixed plate 27 (palm portion 22) via an attachment plate 33.
The mounting plate 33 is T-shaped, and its three protrusions 34-36 are located between adjacent fingers 23, 24, between fingers 23, 25, and between fingers 24, 25, respectively, and two two-dimensional optical sensors 37, 38 and a detection sensor 39, which constitute the shape recognition means 20, are attached and fixed to these three protrusions 34-36, respectively.
Here, the two-dimensional optical sensors 37 and 38 are line sensors that irradiate a line of light (such as a two-dimensional laser) onto an object. Specifically, the FASTUS (registered trademark) shape measurement sensor LS series manufactured by Optex FA Co., Ltd. can be used, but there is no particular limitation.
The detection sensor 39 detects a line of light irradiated from a two-dimensional optical sensor onto an object, and may be, for example, a known image sensor, but is not particularly limited thereto.

9, the two two-dimensional optical sensors 37, 38 are attached and fixed to the mounting plate 33 (the protrusions 34, 35 at a position where the angle between them is 90 degrees) so that the line lights 41, 42 that they respectively irradiate toward a bolt 40, which is an example of an object, intersect as seen from the bolt 40, and particularly in the present invention, the two line lights 41, 42 are orthogonal as seen from the bolt 40 (so that the line lights 41, 42 form a cross shape). Note that the area where the two line lights intersect or even intersect at right angles is not particularly limited as long as it is an area where the object can be irradiated and where the three-dimensional shape of the object, which will be described later, can be recognized.
When distance accuracy is required in object recognition, the conventionally used camera (image sensor) and 3D laser need to be installed with a certain amount of space between them, but when attempting to attach and fix both of these to a single hand means, it is not possible to ensure this spacing.
Therefore, in the present invention, two two-dimensional optical sensors 37, 38 are attached and fixed to the hand means 19 so that the line lights 41, 42 intersect (and even intersect perpendicularly), and by using the detection sensor 39 in combination, it becomes possible to recognize the three-dimensional shape of the bolt 40 inside the box 43.

The control means controls the boom means 13 and also controls the hand means 19 and the shape recognition means 20 .
The control means can be a conventionally known computer having one or more central processing units (CPUs), read only memories (ROMs), random access memories (RAMs), communication interfaces (I/Fs), input/output I/Fs, operation units (keyboards, mouses, etc.), display units (displays), and storage means (hard disk drives (HDDs) and solid state drives (SSDs)).
The CPU reads out a control program stored in the ROM and executes the control program using the RAM as a working area. When the CPU executes the control program, various processes (control methods for the handling device 10) described later are realized.

The control of the boom means 13 includes, for example, control to rotate (swivel) the boom means 13 in a horizontal plane relative to the support base 15, control to tilt it vertically, and control to extend and retract the boom means 13 by moving each of the advance/retract boom members 17, 18 forward and backward relative to the main boom member 16.
The control of the hand means 19 includes, for example, control to rotate the hand means 19 around the axis of the boom means 13 relative to the boom means 13, control to tilt the hand means 19 relative to the axis of the boom means 13, and control to move each of the fingers 23 to 25 of the hand means 19 to grasp an object (control of the motor 29 that moves the link mechanism 31 via the sliding plate 26).
The control of the shape recognition means 20 includes, for example, control to irradiate the lines of light 41, 42 from each of the two-dimensional optical sensors 37, 38, and control to detect the lines of light 41, 42 irradiated onto the object with a detection sensor 39 and transmit the detected lines of light to the control means.
The transmission and reception of signals during the above control can be performed wirelessly or via wires.

The control means further performs a process for identifying the three-dimensional shape of the object, which will be described below with reference to FIG.
The control means first moves the boom means 13 and the hand means 19 so that the lines of light 41, 42 are irradiated onto the bolt 40 from each of the two-dimensional optical sensors 37, 38 and so that the lines of light 41, 42 irradiated onto the bolt 40 can be detected by the detection sensor 39.
Next, the control means moves the boom means 13 and/or the hand means 19 while causing the two-dimensional optical sensors 37, 38 to irradiate the bolt 40 with the line lights 41, 42 and causing the detection sensor 39 to detect the line lights 41, 42 irradiated onto the bolt 40. Specifically, the hand means 19 is moved a preset distance (about the size of the bolt 40: in this case, inside the box 43 that contains a large number of bolts 40) to an extent that the entire shape of the bolt 40 (the surface on the side facing the hand means 19) can be seen (i.e., the inside of the box 43 is scanned).

As a result, the line lights 41, 42 are irradiated onto the bolt 40 from different positions, and the irradiated line lights 41, 42 are detected by the detection sensor 39, thereby enabling processing to be performed to identify the three-dimensional shape of the bolt 40, and for example, the shape, dimensions, position, etc. can be recognized. Note that the shape and dimensions of the bolt 40 can also be inputted into the control means, in which case the position, etc. can be recognized.
That is, the two two-dimensional optical sensors 37, 38 are attached to the hand means 19 so that the line light 41, 42 they respectively irradiate intersect with each other in order to enable three-dimensional measurement of the bolt 40 by moving the hand means 19 in any direction, for example, once by about the size of the bolt 40. Therefore, in order to expand the detectable range, it is preferable to make the line light 41, 42 orthogonal to each other, but for example, the angle formed by the two line light 41, 42 may be made to intersect within a range of about ±30 degrees or less.
Based on the three-dimensional shape thus specified, the control means causes the hand means 19 to perform the gripping operation of the bolt 40 .

Next, a control method for the handling system according to one embodiment of the present invention will be described.
First, an operator moves the handling device 10 shown in FIG. 1 to a target location.
Next, the operator or the control means moves the boom means 13 or the hand means 19 so that line lights 41, 42 are irradiated onto the bolt 40 from each two-dimensional optical sensor 37, 38, as shown in Figure 9, and so that the line lights 41, 42 irradiated onto the bolt 40 can be detected by the detection sensor 39.
Then, the control means moves the boom means 13 and/or the hand means 19 a preset distance (here, a distance that allows scanning the inside of a box 43 containing a large number of bolts 40) while irradiating the bolt 40 with line lights 41, 42 from each of the two-dimensional optical sensors 37, 38 and detecting the line lights 41, 42 irradiated onto the bolt 40 with the detection sensor 39. Note that the movement (trajectory) of the hand means 19 is preferably performed in a direction different from the extension line of the line lights 41 or 42, and can be performed linearly, curvedly, or randomly as long as the three-dimensional shape of the bolt 40 in the box 43 can be specified.

In this way, by irradiating the bolt 40 with line lights 41, 42 from different positions and detecting the irradiated line lights 41, 42 with the detection sensor 39, a process can be performed to identify the three-dimensional shape of the bolt 40 within the box 43, and for example, the shape, dimensions, placement posture, etc. can be recognized.
Based on the identified three-dimensional shape, the control means moves the boom means 13 and the hand means 19 to the most suitable state for gripping the bolt 40 , and causes the hand means 19 to perform the gripping operation of the bolt 40 .
Since many bolts 40 are stacked inside the box 43, it is preferable to repeat the above-mentioned control after the gripping operation of the bolt 40 whose three-dimensional shape has been specified is completed, and to continue the gripping operation of the bolt 40 based on the newly specified three-dimensional shape. However, for example, if the bolts 40 are not stacked (if the entire image can be recognized by a single scan), there is no need to repeat the above-mentioned control.

An application example of the handling device 10 (hand 14 equipped with a shape recognition function) described above is an NC combined lathe 50 shown in Fig. 10. Note that the handling device shown in Fig. 10 is designated by the reference symbol 10a because it is fixed at a specific position (unmovable).
The handling device 10a uses the hand means 14 of the handling device 10a to take out materials (an example of an object) 52 randomly placed in a material box 51 and attaches them to a processing machine 53, and then takes out a finished product (an example of an object) 54 that has been processed using the hand means 14 and places it in a finished product box 55. Reference numeral 56 denotes a passageway through which workers pass.
In this case, for example, the position of the hand means 14 of the handling device 10a is corrected and roughly corrected with respect to the material box 51 placed in the approximate position where it was brought by a worker (part-time worker, etc.), and then the material 52 is scanned by the shape recognition means 20 while reapproaching the box, and then handling (grasping operation) can be performed by the hand means 14.

Another application example of the handling device 10 (the hand 14 equipped with a shape recognition function) is an agricultural harvesting site 60 shown in Fig. 11. The handling device shown in Fig. 11 is configured to be movable by a cart 62 running on rails 61, and is therefore designated by the symbol 10b.
At the agricultural harvesting site 60, the handling device 10b is moved along rails 61 and placed at a specific position, and then the field is scanned by the shape recognition means 20 to recognize the position of the harvest target, for example a melon (an example of an object) 63, and handling (grasping operation) can be performed by the hand means 14.
This allows the harvesting of melons 63 to be carried out automatically.

Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the configurations described in the above embodiments, and includes other embodiments and modifications that are conceivable within the scope of the matters described in the claims. For example, the scope of the present invention also includes cases where a hand and handling device equipped with a shape recognition function of the present invention, and a control method thereof, are configured by combining part or all of the above-mentioned respective embodiments and modifications.
In the above embodiment, the handling device has a boom means and the shape recognition hand is attached to the tip of the boom means, but the handling device may have an arm means composed of a plurality of joints and the shape recognition hand may be attached to the tip of the arm means. Here, the arm means includes a robot arm such as an industrial robot or a collaborative robot, and examples of the arm include a vertical multi-joint robot with two or more axes (e.g., six axes), a polar coordinate robot, a cylindrical coordinate robot, a rectangular coordinate robot, a horizontal multi-joint robot (SCARA robot), a parallel link robot (Delta robot), and the like. In this case, the shape recognition hand is used as an end effector (i.e., a gripper) of the robot arm, and a gripping operation suitable for various tasks can be performed.

In the above embodiment, the hand means has three fingers, but it may have two fingers or four or more fingers (for example, about five fingers). The fingers may move independently or synchronously (may move in the same way). One or more (all) of the bases of the fingers may be configured to be rotatable with respect to the palm.
For example, a cushioning material for preventing damage to an object held by the hand means, or an anti-slip material for preventing an object from slipping off the hand means, can be attached and fixed to any one or more (specifically, all) of the multiple fingers constituting the hand means. The fingers themselves can be made of metal or plastic (resin) depending on the application.

In the above embodiment, the hand means moves each finger by reciprocating the sliding plate of the palm along the guide rod to grasp an object. However, as long as the hand means can grasp an object (as long as the finger can move simultaneously or individually), there is no particular limitation, and for example, each finger may be provided with a driving unit such as a motor.
Furthermore, in the above embodiment, the two two-dimensional optical sensors and the detection sensor (shape recognition means) are attached and fixed to the hand means (palm, i.e., fixed plate) via the attachment plate and are configured to be immovable relative to the hand means. However, any one or more of the two two-dimensional optical sensors and the detection sensor may be configured to be rotatable and/or tiltable relative to the fixed plate and to move individually or all of them relative to the hand means.

10, 10a, 10b: handling device, 11: floor surface, 12: dolly, 13: boom means, 14: hand equipped with shape recognition function, 15: support base, 16: main boom member, 17, 18: boom member for moving forward and backward, 19: hand means, 20: shape recognition means, 21: mounting portion, 22: palm portion, 23-25: finger portions, 26: sliding plate, 27: fixed plate, 28: guide rod, 29: motor, 30: joint, 31: link mechanism, 32: Rotating mechanism, 33: mounting plate, 34-36: protrusions, 37, 38: 2D optical sensor, 39: detection sensor, 40: bolt (object), 41, 42: line light, 43: box, 50: NC compound lathe, 51: box for material, 52: material (object), 53: processing machine, 54: finished product (object), 55: box for finished product, 56: passage, 60: agricultural harvesting site, 61: rail, 62: dolly, 63: melon (object)

Claims (8)

A hand having a shape recognition function that is detachably provided to a handling device that handles an object,
hand means for gripping the object;
a shape recognition means attached to the hand means, the shape recognition means including two two-dimensional optical sensors for irradiating a line of light onto the object, and a detection sensor for detecting the line of light irradiated onto the object;
a control means for controlling the hand means and the shape recognition means,
the two two-dimensional optical sensors of the shape recognition means are attached to the hand means so that the line lights emitted by each of them intersect;
The control means performs a process of identifying a three-dimensional shape of the object from line light that is irradiated onto the object from different positions and detected while moving the hand means a predetermined distance, and causes the hand means to perform a gripping operation of the object based on the identified three-dimensional shape. A hand with a shape recognition function according to claim 1, characterized in that the two two-dimensional optical sensors are attached to the hand means so that the two lines of light irradiated to the object are perpendicular to each other. A hand with a shape recognition function according to claim 2, characterized in that the hand means has a palm portion and a plurality of fingers attached to the outer periphery of the palm portion in a protruding state with a gap therebetween, and the shape recognition means is attached to the palm portion. A hand with a shape recognition function according to claim 3, characterized in that the number of fingers is three, the bases of at least two of the fingers are rotatably attached to the palm, the two rotatably attached fingers are aligned in the same direction, and the distance between the two fingers and the other finger is adjustable. A handling device characterized by being provided with a hand equipped with a shape recognition function according to any one of claims 1 to 4. The handling device according to claim 5, characterized in that it has a boom means that can be extended and retracted in a telescopic manner, and the hand equipped with the shape recognition function is attached to the tip of the boom means. The handling device according to claim 5, characterized in that it has an arm means composed of multiple joints, and the hand equipped with the shape recognition function is attached to the tip of the arm means. A method for controlling a handling device according to claim 5, characterized in that the two two-dimensional optical sensors each irradiate a line of light toward the object, and the detection sensor detects the line of light irradiated onto the object while moving the hand means a preset distance.

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