Patent Publication Number: US-11027427-B2

Title: Control device, picking system, distribution system, program, and control method

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of International Patent Application No. PCT/JP2017/014151 filed on Apr. 4, 2017, the contents of which are hereby incorporated herein by reference in its entirety. 
    
    
     BACKGROUND 
     Technical Field 
     The subject disclosure relates to a control device, a picking system, a distribution system, a program and a control method. 
     Background 
     A picking system has been known, in which a picking hand and a robot arm are used to take out a work stored in a container and arrange the work at a specific position within another container. 
     CITATION LIST 
     Patent Literature 
     [PTL 1] 
     Japanese Patent Application Publication No. 2016-091053 
     [PTL 2] 
     Japanese Patent Application Publication No. 2016-147330 
     [PTL 3] 
     Japanese Patent Application Publication No. 2017-033429 
     SUMMARY 
     In a case of automatically calculating a trajectory of a work by taking an interference with an obstacle into account, there are numerous amounts of calculation and it is difficult to calculate a trajectory within practical time. 
     General Disclosure 
     In a first aspect of the present invention, a control device is provided. The above-described control device may be a control device for controlling a picking apparatus. In the above-described control device, the picking apparatus may arrange, at a second position of a second container, a work picked at a first position of a first container by using a picking hand, the second container being different from the first container. The above-described control device includes a point cloud information acquiring unit for acquiring point cloud information of a region including at least one of the picking hand and the work at a time which is at least one of (i) when a picking hand picks a work at a first position, (ii) when the picking hand moves the work out of a first container, (iii) when the picking hand moves the work in a second container and (iv) when the picking hand arranges the work at a second position, for example. The above-described control device includes an abnormality detection unit for detecting an abnormality based on point cloud information acquired by the point cloud information acquiring unit, for example. 
     The above-described control device may include an image acquiring unit for acquiring image data of an image including at least one of the picking hand and the work in a field angle at the at least one time. In the above-described control device, the point cloud information acquiring unit may acquire the point cloud information based on the image acquired by the image acquiring unit. In the above-described control device, the point cloud information may be three-dimensional point cloud information. 
     In the above-described control device, the abnormality detection unit may detect the abnormality based on (i) the point cloud information and (ii) at least one selected from a group including a measurement value for a sensor arranged on the picking apparatus, a control value for at least one of the picking hand, and a robot arm coupled with the picking hand, and at least one of torque, a voltage value and a current value for a driving unit that drives at least one of the picking hand and the robot arm. The above-described control device may include an instruction sending unit for sending, to the picking apparatus, an instruction for suspending the operation of the picking apparatus when the abnormality detection unit for detecting the abnormality. 
     In a second aspect of the present invention, a picking system is provided. The above-described picking system includes the above-described control device, for example. The above-described picking system includes the above-described picking apparatus, for example. 
     In a third aspect of the present invention, a distribution system is provided. The above-described distribution system includes the control device, for example. The above-described distribution system includes the picking apparatus, for example. The above-described distribution system includes a conveying apparatus to convey the work, for example. 
     In a fourth aspect of the present invention, a program is provided. A non-transitory computer-readable medium to store the above-described program may also be provided. The above-described program may be a program to cause a computer to serve as the above-described control device. 
     In a fourth aspect of the present invention, a control method is provided. The above-described control method may be a control method for controlling a picking apparatus. The above-described control method may be performed by a computer. In the above-described control method, the picking apparatus may arrange, at a second position of a second container, a work picked at a first position of a first container by using a picking hand, the second container being different from the first container. The above-described control method includes a point cloud information acquiring procedure of acquiring point cloud information of a region including at least one of the picking hand and the work at a time which is at least one of (i) when the picking hand picks a work at a first position, (ii) when the picking hand moves the work out of a first container, (iii) when the picking hand moves the work in a second container, and (iv) when the picking hand arranges the work at a second position, for example. The above-described control method includes an abnormality detection procedure of detecting the abnormality based on the point cloud information acquired in the point cloud information acquiring procedure, for example. 
     The summary clause does not necessarily describe all necessary features of the embodiments of the present invention. The present invention may also be a sub-combination of the features described above. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  schematically shows one example of a system configuration of a distribution management system  100 . 
         FIG. 2  schematically shows one example of an internal configuration of an article management apparatus  110 . 
         FIG. 3  schematically shows one example of an internal configuration of a data registration apparatus  120 . 
         FIG. 4  schematically shows one example of an internal configuration of a robot  140 . 
         FIG. 5  schematically shows one example of an internal configuration of a transfer control apparatus  160 . 
         FIG. 6  schematically shows one example of an internal configuration of a recognition unit  520 . 
         FIG. 7  schematically shows one example of an internal configuration of a planning unit  530 . 
         FIG. 8  schematically shows another example of an internal configuration of an execution unit  540 . 
         FIG. 9  schematically shows one example of information processing in a transfer control apparatus  160 . 
         FIG. 10  schematically shows one example of the recognition processing in S 912 . 
         FIG. 11  schematically shows one example of planning processing n S 914 . 
         FIG. 12  schematically shows one example of trajectory planning processing in S 1160 . 
         FIG. 13  schematically shows one example of interference checking processing in S 1208 . 
         FIG. 14  schematically shows one example of a data table  1400 . 
         FIG. 15  schematically shows one example of concurrent processing between works. 
         FIG. 16  schematically shows one example of concurrent processing between works. 
     
    
    
     DESCRIPTION OF EXEMPLARY EMBODIMENTS 
     Hereinafter, (some) embodiment(s) of the present invention will be described. The embodiment(s) do(es) not limit the invention according to the claims, and all the combinations of the features described in the embodiment(s) are not necessarily essential to means provided by aspects of the invention. Note that in the drawings, the same or similar portions are provided with the same reference signs and redundant descriptions may be omitted. 
     [Summary of Distribution Management System  100 ] 
       FIG. 1  schematically shows one example of a system configuration of a distribution management system  100 . In the present embodiment, the distribution management system  100  includes an article management apparatus  110 , a data registration apparatus  120 , a transfer apparatus  130  and a conveying apparatus  170 . In the present embodiment, the transfer apparatus  130  includes a robot  140 , an image capturing apparatus  152 , an image capturing apparatus  154  and a transfer control apparatus  160 . In the present embodiment, the conveying apparatus  170  includes a conveyor  172  that conveys the supply pallet  12  and a conveyor  174  that conveys a delivery pallet  14 . 
     The supply pallet  12  may be one example of a first container and a supply container. The delivery pallet  14  may be one example of a second container and an arrangement container. The distribution management system  100  may be one example of a control device, an information processing apparatus, a picking system and a distribution system. The article management apparatus  110  may be one example of a storage apparatus. The data registration apparatus  120  may be one example of the information processing apparatus. The transfer apparatus  130  may be one example of the picking apparatus and the picking system. The robot  140  may be one example of the picking apparatus. The image capturing apparatus  152  may be one example of an image acquiring unit. The image capturing apparatus  154  may be one example of the image acquiring unit. The transfer control apparatus  160  may be one example of the control device and the picking control unit. 
     In the present embodiment, the distribution management system  100  manages warehousing, storage and shipping of a plurality of types of articles. For example, the distribution management system  100  produces a piece of baggage for delivery by putting a stored article in a container for delivery based on an order from a user. 
     The baggage for delivery is produced according to the following procedures, for example. First, the conveyor  172  of the conveying apparatus  170  conveys the supply pallet  12 , in which an article ordered by a user is stored, to a working position of the transfer apparatus  130 . In one embodiment, the supply pallet  12  stores one article. In another embodiment, the supply pallet  12  stores a plurality of articles of the same type. In still another embodiment, the supply pallet  12  stores a plurality of types of articles. Also, the conveyor  174  of the conveying apparatus  170  conveys the delivery pallet  14  to a working position of the transfer apparatus  130 . 
     Next, the transfer apparatus  130  identifies a work  10  that is to be a working target of the transfer apparatus  130  from among the articles stored in the supply pallet  12 . Also, the transfer apparatus  130  sets a specific position or any position of the delivery pallet  14  as an arrangement position of the above-described work  10 . The transfer apparatus  130  determines a trajectory for moving the work  10  of the supply pallet  12  to the specific position or any position of the delivery pallet  14 . The transfer apparatus  130  (i) picks and takes the identified work  10  out of the supply pallet  12 , and (ii) arranges the identified work  10  to the specific position or any position of the delivery pallet  14 . 
     When another article ordered by the user has been stored in the above-described supply pallet  12 , the transfer apparatus  130  repeats a similar working to the above. When the other article ordered by the user has been stored in another supply pallet  12 , the conveyor  172  moves the above-described supply pallet  12  out of the working position of the transfer apparatus  130 , and conveys the above-described other supply pallet  12  to the working position of the transfer apparatus  130 . The transfer apparatus  130  repeats a similar working to the above with respect to another article stored in another supply pallet  12 . Then, as all articles ordered by the user are stored in the delivery pallet  14 , the conveyor  174  moves the delivery pallet  14  out of the working position of the transfer apparatus  130 . Accordingly, pieces of baggage for delivery can be prepared. 
     [Summary of Each Unit of Distribution Management System  100 ] 
     In the present embodiment, the article management apparatus  110  manages warehousing, storage and shipping of articles. The article management apparatus  110  acquires user order information that indicates order contents of a user. Details of the article management apparatus  110  are described below. 
     In the present embodiment, the data registration apparatus  120  acquires various information regarding warehoused articles. For example, the data registration apparatus  120  acquires information regarding appearances, shapes, specifications, handling methods and the like. The data registration apparatus  120  may register the acquired information in the article management apparatus  110 . The data registration apparatus  120  may also register information about the all warehoused articles, and may also register information per type of articles. Details of the data registration apparatus  120  are described below. 
     In the present embodiment, the transfer apparatus  130  moves the work  10  from the supply pallet  12  arranged at the working position of the transfer apparatus  130  to the delivery pallet  14  arranged at the working position of the transfer apparatus  130 . To simplify the description, in the present embodiment, a case in which a single supply pallet  12  and a single delivery pallet  14  are arranged at the working positions of the transfer apparatus  130  is described. However, the transfer apparatus  130  is not limited to the present embodiment. 
     In another embodiment, a plurality of supply pallets  12  and one or more delivery pallets  14  are arranged at working positions of the transfer apparatus  130 , and the transfer apparatus  130  moves a plurality of works between the plurality of supply pallets  12  and the one or more delivery pallets  14 . In still another embodiment, one or more supply pallets  12  and a plurality of delivery pallets  14  are arranged at the working positions of the transfer apparatus  130 , and the transfer apparatus  130  moves a plurality of works between the one or more supply pallets  12  and the plurality of delivery pallets  14 . 
     In the present embodiment, the robot  140  moves the work  10  from the supply pallet  12  to the delivery pallet  14  based on an instruction from the transfer control apparatus  160 . For example, the robot  140  moves, by using the picking hand, one or more works  10  from one or more supply pallets  12  to one or more delivery pallets  14 . The robot  140  may also arrange, at a second position, the work  10  picked at a first position by using the picking hand, the second position being different from the first position. The first position may be a specific position or any position of the supply pallet  12 . The second position may be a specific position or any position of the delivery pallet  14 . Details of the robot  140  are described below. Note that the expression “one or more” may be referred to as the expression “one or more”. 
     In the present embodiment, the image capturing apparatus  152  captures an image of the supply pallet  12  arranged at the working position of the transfer apparatus  130 . The image capturing apparatus  152  may also acquire three-dimensional information (for example, a three-dimensional point cloud) of a surface of the supply pallet  12 . The image capturing apparatus  152  may also capture a stereo image of the supply pallet  12 . The image capturing apparatus  152  may also acquire temperature information of the supply pallet  12 . As the image capturing apparatus  152 , a camera, a stereo camera, a three-dimensional sensor and the like can be illustrated. The image capturing apparatus  152  may also include a plurality of image capturing apparatuses. 
     In the present embodiment, the image capturing apparatus  154  captures an image of the delivery pallet  14  arranged at the working position of the transfer apparatus  130 . The image capturing apparatus  154  may also acquire three-dimensional information (for example, a three-dimensional point cloud) of a surface of the delivery pallet  14 . The image capturing apparatus  152  may also capture a stereo image of the supply pallet  12 . The image capturing apparatus  154  may also acquire temperature information of the delivery pallet  14 . As the image capturing apparatus  154 , a camera, a stereo camera, a three-dimensional sensor and the like can be illustrated. The image capturing apparatus  154  may also include a plurality of image capturing apparatuses. 
     In the present embodiment, the transfer control apparatus  160  controls the transfer apparatus  130 . In one embodiment, the transfer control apparatus  160  is arranged outside the transfer apparatus  130 . In another embodiment, the transfer control apparatus  160  is arranged inside the transfer apparatus  130 . Details of the transfer control apparatus  160  are described below. 
     In the present embodiment, the conveying apparatus  170  conveys one or more works. For example, the conveying apparatus  170  conveys one or more works stored in the supply pallet  12 . The conveying apparatus  170  may also convey one or more works stored in the delivery pallet  14 . 
     [Specific Configuration of Each Unit of Distribution Management System  100 ] 
     Each unit of the distribution management system  100  may also be realized by hardware, may also be realized by software, and may also be realized by hardware and software. At least some of the respective units of the distribution management system  100  may also be realized by a single server, or may also be realized by a plurality of servers. At least some of the respective units of the distribution management system  100  may also be realized on a virtual server or a cloud system. At least some of the respective units of the distribution management system  100  may also be realized by a personal computer or a mobile terminal. As the mobile terminal, a mobile phone, a smartphone, a PDA, a tablet, a notebook computer or a laptop computer, a wearable computer and the like can be illustrated. Each unit of the distribution management system  100  may also store information by using a distributed inventory technology such as a block chain, or a distributed network. 
     In a case in which at least some of the components configuring the distribution management system  100  are realized by software, the component realized by the software may be realized by activating software or a program prescribing an operation regarding the component in an information processing apparatus in a general configuration. The above-described information processing apparatus in the general configuration may include: (i) a data processing apparatus having a processor, such as CPU and GPU, a ROM, a RAM, a communication interface and the like; (ii) an input apparatus such as a keyboard, a pointing device, a touch panel, a camera, a sound input apparatus, a gesture input apparatus, various sensors and a GPS receiver; (iii) an output apparatus such as a display apparatus, a sound output apparatus and a vibration apparatus; and (iv) a storage apparatus (including an external storage apparatus) such as a memory, HDD and SSD. 
     In the above-described information processing apparatus in the general configuration, the above-described data processing apparatus or storage apparatus may store the above-described software or program. The above-described software or program is performed by the processor, and accordingly, causes the above-described information processing apparatus to perform an operation prescribed by the software or program. The above-described software or program may also be stored in a non-transitory computer-readable medium. The above-described software or program may be a program to cause a computer to serve as the transfer control apparatus  160  or a part of the transfer control apparatus  160 . 
     The above-described software or program may be a program to control the picking apparatus. In the above-described program, the picking apparatus may arrange, at a second position, a work picked at a first position by using a picking hand, the second position being different from the above-described first position. The above-described program may be a program to cause a computer to perform a first candidate information acquiring procedure of acquiring first candidate information indicating each of one or more postures that the above-described picking hand can take at the above-described first position. The above-described program may be a program to cause a computer to perform a second candidate information acquiring procedure of acquiring second candidate information indicating each of one or more postures that the above-described picking hand can take at the above-described second position, and an extracting procedure of extracting one combination from among one or more combinations regarding the one or more postures indicated by the above-described first candidate information and the one or more postures indicated by the above-described second candidate information. The above-described program may be a program to cause a computer to perform a trajectory calculating procedure of calculating a trajectory on which (i) the above-described picking hand picks, at the above-described first position, the above-described work with a posture associated with the above-described first position included in the above-described one combination, and (ii) the above-described picking hand arranges, at the above-described second position, the above-described work with a posture associated with the above-described second position included in the above-described one combination. The above-described program may be a program to cause a computer to perform a determining procedure of determining whether an interference is present or absent on the trajectory that is calculated in the above-described trajectory calculating procedure. 
     The above-described software or program may be a program to control the picking apparatus. In the above-described program, the picking apparatus may arrange, at a second position of a second container, a work picked at a first position of a first container by using a picking hand, the second container being different from the above-described first container. The above-described program may be a program to cause a computer to perform a trajectory information generating procedure of generating trajectory information prescribing a trajectory on which (i) the above-described picking hand picks, at the above-described first position, the above-described work with a posture associated with the above-described first position included in the above-described one combination, and (ii) the picking hand arranges, at the above-described second position, the above-described work with a posture associated with the above-described second position included in the above-described one combination. The above-described program may be a program to cause a computer to perform an execution control procedure to operate the above-described picking apparatus based on the trajectory information generated in the above-described trajectory information procedure. The above-described program may be a program to cause a computer to perform an execution time estimating procedure of estimating a period of time that is from a time when the above-described picking apparatus receives an instruction for starting an operation on the above-described work to a time when the operation of the above-described picking apparatus on the above-described work is ended in the above-described execution control procedure. In the above-described program, the above-described trajectory information generating procedure may also include a procedure of adjusting the amount of calculation based on an estimation result obtained in the above-described execution time estimating procedure. 
     The above-described software or program may be a program to control the picking apparatus. In the above-described program, the picking apparatus may arrange, at a second position of a second container, a work picked at a first position of a first container by using a picking hand, the second container being different from the above-described first container. The above-described program may be a program to cause a computer to perform a point cloud information acquiring procedure of acquiring point cloud information of a region including at least one of the above-described picking hand and the above-described work at a time being at least one of (i) when the above-described picking hand picks the above-described work at the above-described first position, (ii) when the above-described picking hand moves the above-described work out of the above-described first container, (iii) when the above-described picking hand moves the above-described work in the above-described second container, and (iv) when the above-described picking hand arranges the above-described work at the above-described second position. The above-described program may be a program to cause a computer to perform an abnormality detection procedure of detecting abnormality based on the point cloud information acquired in the above-described point cloud information acquiring procedure. 
     The above-described software or program may be a program to control the picking apparatus. In the above-described program, the picking apparatus may move, by using a picking hand, one or more works from one or more supply containers to one or more arrangement containers. The above-described program may be a program to cause a computer to perform a trajectory information generating procedure of generating trajectory information prescribing a trajectory on which the above-described picking hand picks one of the above-described one or more works stored in one supply container included in the above-described one or more supply containers and arranges the work of the above-described one or more works to one arrangement container included in the above-described one or more arrangement containers. In the above-described program, after performing a process of generating trajectory information regarding a first work included in the above-described one or more works and before completing moving the above-described first work, the above-described trajectory information generating procedure may include a procedure of generating trajectory information regarding a second work being included in the above-described one or more works and being different from the above-described first work by using an operation result in the process of generating the trajectory information regarding the above-described first work. 
     The above-described software or program may be a program to control the picking apparatus. In the above-described program, the picking apparatus may move, by using the picking hand, one or more works to one or more supply containers or one or more arrangement containers. The above-described program may be a program to cause a computer to perform a trajectory information generating procedure of generating trajectory information prescribing a trajectory on which the above-described picking hand picks one of the above-described one or more works stored in one supply container included in the above-described one or more supply containers and arranges the one or more works in one arrangement container included in the above-described one or more arrangement containers. In the above-described program, after performing the process of generating the trajectory information regarding a first work included in the above-described one or more works and before completing moving the above-described first work, the above-described trajectory information generating procedure may have a procedure of generating trajectory information regarding a second work being included in the above-described one or more works and being different from the above-described first work by using an operation result in the process of generating trajectory information regarding the above-described first work. 
     The above-described software or program may be a program to cause a computer to perform a three-dimensional information acquiring procedure of acquiring three-dimensional information of a target object. The above-described software or program may be a program to cause a computer to perform a holding information acquiring procedure of acquiring holding information that defines a method of holding the above-described target object by using the picking hand. The above-described software or program may be a program to cause a computer to perform an information management procedure of storing, in a storage apparatus, (i) three-dimensional information of the above-described target object acquired by the above-described three-dimensional information acquiring unit and (ii) holding information acquired by the above-described holding information acquiring unit in association with each other. 
       FIG. 2  schematically shows one example of an internal configuration of an article management apparatus  110 . In the present embodiment, the article management apparatus  110  includes an order information acquiring unit  210 , a conveying apparatus management unit  220 , a transfer apparatus management unit  230 , a request processing unit  240  and an article information storing unit  250 . The order information acquiring unit  210  may be one example of an order information acquiring unit. The article information storing unit  250  may be one example of the storage apparatus. 
     In the present embodiment, the order information acquiring unit  210  acquires user order information indicating order contents of a user. The user order information may include identification information of an article that is to be a working target of the transfer apparatus  130 . As the identification information of the article, a name of the article, a code number added to the article, a feature of an appearance of the article and the like can be illustrated. The user order information may be one example of the order information. 
     In one embodiment, the order information acquiring unit  210  receives an order from a user via an input apparatus (not shown in the drawings) such as a keyboard, a touch panel, a sound input apparatus and a gesture input apparatus that are arranged in the article management apparatus  110 . In another embodiment, the order information acquiring unit  210  receives the user order information via a communication network from a communication terminal or another information processing apparatus of a user. The communication network may be a wired communication transmission path, may be a wireless communication transmission path, and may also be a combination of a wireless communication transmission path and a wired communication transmission path. 
     In the present embodiment, the conveying apparatus management unit  220  manages the conveying apparatus  170 . In one embodiment, the conveying apparatus management unit  220  transfers the user order information acquired by the order information acquiring unit  210  to the conveying apparatus  170 . In another embodiment, the conveying apparatus management unit  220  may analyze the user order information from one or more users to check inventory states of articles included in the user order information. In still another embodiment, the conveying apparatus management unit  220  may analyze the user order information from one or more users, and if multiple types of articles are included in the user order information, the conveying apparatus management unit  220  may determine a conveying sequence of the multiple types of articles to the transfer apparatus  130  based on an inventory position of each article such that the entire conveying efficiency satisfies a predetermined condition. 
     In the present embodiment, the transfer apparatus management unit  230  manages the transfer apparatus  130 . In one embodiment, the transfer apparatus management unit  230  may analyze the user order information, and if multiple types of articles are included in the user order information, the transfer apparatus management unit  230  may determine a picking sequence of the multiple types of articles to the transfer apparatus  130  such that working efficiency of the transfer apparatus  130  satisfies a predetermined condition. If the conveying apparatus management unit  220  determines the conveying sequence of the multiple types of articles to the transfer apparatus  130 , the transfer apparatus management unit  230  may determine the picking sequence of the multiple types of articles to the transfer apparatus  130  while taking the conveying sequence into account. In another embodiment, the transfer apparatus management unit  230  transfers the user order information acquired by the order information acquiring unit  210  to the transfer apparatus  130 . In this case, the transfer apparatus  130  may also analyze the user order information to determine the picking sequence of the multiple types of articles to the transfer apparatus  130 . 
     In the present embodiment, the request processing unit  240  receives various requests. The request processing unit  240  processes the received requests. In one embodiment, the request processing unit  240  receives a registration request of data regarding an article from the data registration apparatus  120 . As the request processing unit  240  receives the above-described registration request, the request processing unit  240  checks, for example, whether or not the data of the article to be registered has already been stored in the article information storing unit  250 . If the above-described data is not stored in the article information storing unit  250 , the request processing unit  240  stores the above-described data in the article information storing unit  250 . In a case where the above-described data has been stored in the article information storing unit  250 , if the contents of the data have been changed the request processing unit  240  updates the above-described data. On the other hand, the request processing unit  240  ends the processing if the contents of the data are not changed. 
     In another embodiment, the request processing unit  240  receives, from the transfer control apparatus  160 , a sending request of data matched with a specific condition. As the request processing unit  240  receives the above-described sending request, the request processing unit  240  accesses, for example, to the article information storing unit  250  to check whether the data matched with the condition is present or absent. If the data matched with the above-described condition has been stored in the article information storing unit  250 , the request processing unit  240  sends the data to the transfer control apparatus  160 . If the data matched with the above-described condition is not stored in the article information storing unit  250 , the request processing unit  240  sends information indicating that no data exists to the transfer control apparatus  160 . 
     In the present embodiment, the article information storing unit  250  stores various information regarding an article. The article information storing unit  250  may store the information acquired by the data registration apparatus  120 . 
       FIG. 3  schematically shows one example of an internal configuration of the data registration apparatus  120 . In the present embodiment, the data registration apparatus  120  includes a three-dimensional information acquiring unit  312 , a two-dimensional information acquiring unit  314 , a mass information acquiring unit  316  and an article information registration unit  320 . In the present embodiment, the article information registration unit  320  includes an input/output unit  330 , a registration information generating unit  340  and a registration request sending unit  350 . In the present embodiment, the registration information generating unit  340  includes a coordinate information adding unit  342 , a holding information adding unit  344  and a specification information adding unit  346 . 
     The article information registration unit  320  may be one example of the information management unit. The holding information adding unit  344  may be one example of the holding information acquiring unit. The specification information adding unit  346  may be one example of the feature information acquiring unit. The registration request sending unit  350  may be one example of the information management unit. 
     In the present embodiment, the three-dimensional information acquiring unit  312  acquires three-dimensional information of a target article that is to be a target of data registration processing. The three-dimensional information may include at least one of home position information and coordinate axis information. The three-dimensional information may also include CAD data of the target article. The three-dimensional information may also include data obtained by three-dimensionally measuring the target article. The target article may be one example of the target object. The three-dimensional information acquiring unit  312  may also be (i) a three-dimensional measurement apparatus in any manner and may also be (ii) a communication interface or a storage apparatus to receive three-dimensional information from the three-dimensional measurement apparatus or another information processing apparatus. 
     In the present embodiment, the two-dimensional information acquiring unit  314  acquires two-dimensional information of a target article that is to be a target of the data registration processing. The two-dimensional information may include CAD data of the target article. The two-dimensional information may include image data of three or more images obtained by capturing the images of the target article from three or more directions. The two-dimensional information may include image data of four or more images obtained by capturing the images of the target article from four or more directions. The two-dimensional information may include image data of five or more images obtained by capturing the images of the target article from five or more directions. The two-dimensional information may include image data of six or more images obtained by capturing the images of the target article from six or more directions. The two-dimensional information acquiring unit  314  may also be (i) an image capturing apparatus in any manner, and may also be (ii) a communication interface or a storage apparatus to receive two-dimensional information from the image capturing apparatus or another information processing apparatus. 
     In the present embodiment, the mass information acquiring unit  316  acquires mass information indicating the mass of the target article. The mass information may also include information of a center of gravity indicating a position of the center of gravity of the target article. The mass information acquiring unit  316  may also be (i) a mass measurement apparatus in any manner, and may also be (ii) a communication interface or a storage apparatus to receive mass information from the mass measurement apparatus or another information processing apparatus. 
     In the present embodiment, the article information registration unit  320  stores, in the article information storing unit  250 , (i) the three-dimensional information of the target article acquired by the three-dimensional information acquiring unit  312  and (ii) various information regarding the target article in association with each other. For example, the article information registration unit  320  sends, to the article management apparatus  110 , a request for storing (i) the three-dimensional information of the target article acquired by the three-dimensional information acquiring unit  312  and (ii) various information regarding the target article in the article information storing unit  250 . 
     In the present embodiment, the input/output unit  330  receives an input from a user. Also, the input/output unit  330  outputs information to the user. The input/output unit  330  includes an input apparatus such as a keyboard, a pointing device, a touch panel, a camera, a sound input apparatus, a gesture input apparatus, various sensors and a GPS receiver, for example. The input/output unit  330  may also be a communication interface with an external storage apparatus. The input/output unit  330  may also be a communication interface for sending and receiving information to/from another information processing apparatus via a communication line. Accordingly, information regarding a target article can be acquired by accessing to a website in which a manufacturer or seller of the target article provides a service, for example. The input/output unit  330  includes an output apparatus such as a display apparatus, a sound output apparatus and a vibration apparatus, for example. Accordingly, an input screen for the user to input the information regarding the target article can be presented to the user, for example. 
     In the present embodiment, the registration information generating unit  340  generates information that is to be registered in the article management apparatus  110 . For example, the registration information generating unit  340  adds various information to at least one of the three-dimensional information of the target article acquired by the three-dimensional information acquiring unit  312 , the two-dimensional information of the target article acquired by the two-dimensional information acquiring unit  314  and the mass information of the target article acquired by the mass information acquiring unit  316 , to generate the information to be registered in the article management apparatus  110 . 
     In the present embodiment, the coordinate information adding unit  342  adds at least one of the home position information and the coordinate axis information to at least one of the three-dimensional information of the target article acquired by the three-dimensional information acquiring unit  312  and the two-dimensional information of the target article acquired by the two-dimensional information acquiring unit  314 . The coordinate information adding unit  342  may also acquire at least one of the home position information and the coordinate axis information from the input/output unit  330 . 
     In the present embodiment, the holding information adding unit  344  adds holding information defining a method of holding the target article by using the picking hand to at least one of the three-dimensional information of the target article acquired by the three-dimensional information acquiring unit  312  and the two-dimensional information of the target article acquired by the two-dimensional information acquiring unit  314 . 
     In one embodiment, the holding information adding unit  344  determines a method of holding the target article by acquiring the holding information from the input/output unit  330 . In another embodiment, the holding information adding unit  344  determines the method of holding the target article based on (i) a shape of the target article and (ii) information associating a typical shape of the article with the method of holding the article. 
     In the present embodiment, the specification information adding unit  346  adds specification information indicating a specification of the target article to at least one of the three-dimensional information of the target article acquired by the three-dimensional information acquiring unit  312  and the two-dimensional information of the target article acquired by the two-dimensional information acquiring unit  314 . As the specification of the target article, (i) a name of the article, (ii) an identification code added to the article, (iii) a dimension of the article, (iv) the mass of the article, (v) matters regarding storage, transportation or usage of the article and the like can be illustrated. 
     In one embodiment, the specification information adding unit  346  may acquire the specification information from the input/output unit  330 . In another embodiment, the specification information adding unit  346  may acquire, based on at least one of the three-dimensional information acquired by the three-dimensional information acquiring unit  312  and the two-dimensional information acquired by the two-dimensional information acquiring unit  314 , feature information for recognizing the target article and include the feature information in the specification information. The specification information adding unit  346  may use a method used in an image recognition field such as face recognition and living body recognition to acquire the feature information. 
     The feature information may be information regarding a feature of at least parts of the appearance of the target article. As the feature of the appearance of the target article, (i) a feature regarding at least one of a shape, a pattern and a color of the target article, (ii) a logo mark added to a target article, a name of the article or an identification code to identify the article and the like can be illustrated. 
     Accordingly, the registration information generating unit  340  can generate the information that is to be registered in the article management apparatus  110 . Note that the information that is to be registered in the article management apparatus  110  may at least include at least one of the three-dimensional information of the target article acquired by the three-dimensional information acquiring unit  312  and the two-dimensional information of the target article acquired by the two-dimensional information acquiring unit  314 , or may not include the mass information, the coordinate information, the holding information and the specification information. 
     In one embodiment, the information to be registered in the article management apparatus  110  includes the three-dimensional information and the holding information of the target article. The information to be registered in the article management apparatus  110  may also include (i) the three-dimensional information and the holding information of the target article and (ii) at least one of the feature information and the identification information of the target article. The information to be registered in the article management apparatus  110  may also include (i) the three-dimensional information and the holding information of the target article and (ii) at least one of the mass information, the coordinate information and the specification information of the target article. The information to be registered in the article management apparatus  110  may also include (i) the three-dimensional information and the holding information of the target article, (ii) at least one of the feature information and the identification information of the target article, and (iii) at least one of the mass information, the coordinate information and the specification information of the target article. 
     In another embodiment, the information to be registered in the article management apparatus  110  includes the three-dimensional information, the two-dimensional information and the holding information of the target article. The information to be registered in the article management apparatus  110  may also include (i) the three-dimensional information, the two-dimensional information and the holding information of the target article, and (ii) at least one of the feature information and the identification information of the target article. The information that is to be registered in the article management apparatus  110  may also include (i) the three-dimensional information, the two-dimensional information and the holding information of the target article, and (ii) at least one of the mass information, the coordinate information and the specification information of the target article. The information that is to be registered in the article management apparatus  110  may also include (i) the three-dimensional information, the two-dimensional information and the holding information of the target article, (ii) at least one of the feature information and the identification information of the target article, and (iii) at least one of the mass information, the coordinate information and the specification information of the target article. 
     In the present embodiment, the registration request sending unit  350  stores the registration information generated by the registration information generating unit  340  in the article management apparatus  110 . For example, the registration request sending unit  350  sends, to the article management apparatus  110 , a registration request for storing the registration information generated by the registration information generating unit  340  in the article information storing unit  250 . 
     In the present embodiment, a case in which the article information storing unit  250  that is where the registration information is to be registered is arranged in the article management apparatus  110  is described. However, the article information storing unit  250  is not limited to the present embodiment. In another embodiment, the article information storing unit  250  may also be arranged in the data registration apparatus  120 . 
       FIG. 4  schematically shows one example of an internal configuration of a robot  140 . In the present embodiment, the robot  140  includes a manipulator  410 , a driving unit  420  and a drive control unit  430 . In the present embodiment, the manipulator  410  includes a picking hand  412  and a robot arm  414 . 
     In the present embodiment, the picking hand  412  holds the work  10 . The holding manner of the picking hand  412  is not particularly limited. As the holding manner of the picking hand  412 , a manner of attracting the work  10  with a low pressure, a manner of holding the work  10  by a plurality of finger modules and the like can be illustrated. The picking hand  412  may also be exchanged in accordance with the working contents. The picking hand  412  may have various sensors such as a contact sensor, a mass measurement sensor and a load measurement sensor. 
     In the present embodiment, the robot arm  414  is coupled with the picking hand  412  to adjust a position and a posture of the picking hand  412 . Although the structure of the robot arm  414  is not particularly limited, a multijoint robot arm having a plurality of joints is used, for example. The robot arm  414  may have various sensors such as a mass measurement sensor and a load measurement sensor. The load measurement sensor may be a sensor to measure torque, a current value or a voltage value for the driving unit  420  that drives each joint of the robot arm  414 . 
     In the present embodiment, the driving unit  420  drives the manipulator  410 . In one embodiment, the driving unit  420  drives the picking hand  412 . For example, the driving unit  420  supplies air to the picking hand  412 , or sucks air from the picking hand  412 . In another embodiment, the driving unit  420  drives the robot arm  414 . For example, the driving unit  420  adjusts an angle of each joint of the robot arm  414 . The driving unit  420  may be a motor. The driving unit  420  may have a plurality of motors. 
     In the present embodiment, the drive control unit  430  controls the driving unit  420 . For example, the drive control unit  430  receives, from the transfer control apparatus  160 , an instruction for controlling an operation of the robot  140 . The drive control unit  430  controls the driving unit  420  based on the instruction from the transfer control apparatus  160 . The instruction for controlling the operation of the robot  140  may be information indicating a trajectory of the picking hand  412 . 
     As the information indicating the trajectory of the picking hand  412 , (i) information indicating an initial arrangement, a passing arrangement, a final arrangement and move time of the picking hand  412 , (ii) information indicating an angle of each joint and move time of the robot arm  414  in the initial arrangement, the passing arrangement and the final arrangement, (iii) information indicating an arrangement of the picking hand  412  at each time during the move time, (iv) information indicating an angle of each joint of the robot arm  414  at each time during the move time, and the like can be illustrated. The arrangement of the picking hand  412  may be identified by the position and the posture of the picking hand  412 , for example. 
       FIG. 5  schematically shows one example of an internal configuration of the transfer control apparatus  160 . In the present embodiment, the transfer control apparatus  160  includes a recognition information storing unit  510 , a recognition unit  520 , a planning unit  530 , an execution unit  540  and a concurrent processing control unit  550 . 
     The recognition information storing unit  510  may be one example of the holding information storing unit. The recognition unit  520  may be one example of the order information acquiring unit, the image acquiring unit, the point cloud information acquiring unit, the holding information extracting unit and the container information acquiring unit. The planning unit  530  may be one example of the control device and the trajectory information generating unit. The execution unit  540  may be one example of the control device and the execution control unit. The concurrent processing control unit  550  may be one example of the execution time estimating unit and the constraint condition setting unit. 
     In the present embodiment, the recognition information storing unit  510  stores various information regarding the recognition processing in the recognition unit  520 . In one embodiment, the recognition information storing unit  510  stores information that is used for the recognition processing in the recognition unit  520 . For example, the recognition information storing unit  510  stores the identification information to identify each of one or more types of articles and at least one of the three-dimensional information, the two-dimensional information and the feature information of each article in association with each other. Accordingly, the recognition unit  520  can recognize articles stored in the supply pallet  12  and recognize a work  10  that is to be a working target of the transfer apparatus  130  from among the identified articles. 
     The recognition information storing unit  510  may further store at least one of the home position information, the coordinate axis information, the holding information and the specification information of each article. These pieces of information are used by the planning unit  530 , for example. For example, the recognition information storing unit  510  stores the identification information to identify each of one or more types of articles, at least one of the three-dimensional information, the two-dimensional information and the feature information of each article, and at least one of the home position information, the coordinate axis information, the holding information and the specification information of each article in association with each other. 
     In another embodiment, the recognition information storing unit  510  stores the information obtained by the recognition processing in the recognition unit  520 . For example, the recognition information storing unit  510  stores (i) a recognition result of each of one or more supply pallets  12  arranged at working positions of the transfer apparatus  130 , (ii) a recognition result of an article stored in each of the one or more supply pallets  12 , (iii) a recognition result of a work  10  that is to be the working target of the transfer apparatus  130  among the recognized articles, (iv) a point cloud of surfaces of the one or more supply pallets  12 , (v) a recognition result of each of one or more delivery pallets  14  arranged at working positions of the transfer apparatus  130 , (vi) a recognition result of an article stored in each of the one or more delivery pallets  14 , (vii) a recognition result of the being-transferred work  10  on each of the one or more delivery pallets  14 , (viii) a point cloud of the surfaces of the one or more delivery pallets  14 , and the like. The above-described point cloud may be a three-dimensional point cloud. 
     The recognition information storing unit  510  may store information required for the working of the transfer apparatus  130  among the information regarding the articles being stored in the article information storing unit  250 . For example, the recognition information storing unit  510  stores information regarding the article that was previously the working target of the transfer apparatus  130 , information regarding the article that is often the working target of the transfer apparatus  130 , information regarding an article that is scheduled to be the working target of the transfer apparatus  130 , information regarding an article that is estimated to be the working target of the transfer apparatus  130  in a near future according to a previous working history, and the like. Accordingly, the recognition unit  520  can extract target information at high speed. 
     The recognition information storing unit  510  may be realized by a medium being different from the article information storing unit  250  that is where the data acquired by the data registration apparatus  120  is to be registered. For example, the recognition information storing unit  510  is realized by a medium to which the recognition unit  520  can access at higher speed than the article information storing unit  250 . Accordingly, the recognition unit  520  can extract the target information at high speed. 
     In the present embodiment, the recognition unit  520  performs the recognition processing. For example, the planning unit  530  acquires the working information indicating the working contents of the transfer apparatus  130  from the article management apparatus  110 . The working information includes the information indicating the picking sequence of the one or more articles to the transfer apparatus  130 , for example. The working information may also be the user order information. The working information may be one example of the order information. Also, the recognition unit  520  acquires, from the image capturing apparatus  152  and the image capturing apparatus  154 , image data of each of the one or more supply pallets  12  and the one or more delivery pallets  14  arranged at the working positions of the transfer apparatus  130 . 
     In the present embodiment, the recognition unit  520  recognize, with reference to the information stored in the recognition information storing unit  510  or the article information storing unit  250 , the supply pallets  12 , the articles stored in the supply pallets  12 , the delivery pallets  14 , the articles stored in the delivery pallets  14  and the work  10  being the working target of the transfer apparatus  130 . The recognition unit  520  may send the information indicating the recognition result to the planning unit  530 . The recognition unit  520  may send the information indicating the recognition result to the execution unit  540 . The recognition unit  520  may store the information indicating the recognition result in the recognition information storing unit  510 . Details of the recognition unit  520  are described below. 
     In the present embodiment, the planning unit  530  performs the planning processing. For example, the planning unit  530  creates a working plan of the transfer apparatus  130 . More specifically, the planning unit  530  generates trajectory information prescribing a trajectory on which the picking hand  412  picks the work  10  stored in a specific supply pallet  12  and arranges the work on a specific delivery pallet  14 . The specific supply pallet  12  may be one example of one supply container included in one or more supply containers. The specific delivery pallet  14  may be one example of one arrangement container included in one or more arrangement containers. 
     The trajectory information prescribes a trajectory on which the picking hand  412  picks the work  10  at a first position and arranges the work at a second position, for example. The second position may be a position being different from the first position. The first position may be any position or a specific position of the supply pallet  12 . The second position may be any position or a specific position of the delivery pallet  14 . 
     In the present embodiment, the planning unit  530  generates the trajectory information based on the working information from the article management apparatus  110  and the recognition result of the recognition unit  520  with reference to the holding information stored in the recognition information storing unit  510  or the article information storing unit  250 . Accordingly, the planning unit  530  can create a working plan of the transfer apparatus  130 . The planning unit  530  may generate control information for controlling at least one of the picking hand  412  and the robot arm  414  based on the generated trajectory information. The planning unit  530  may send the generated control information to the execution unit  540 . Details of the planning unit  530  are described below. 
     In the present embodiment, the execution unit  540  performs the execution processing. For example, the execution unit  540  receives the control information from the planning unit  530 . The execution unit  540  sends the control information to the drive control unit  430  of the robot  140  to operate the robot  140  based on the trajectory information generated by the planning unit  530 . Also, the execution unit  540  monitors the operation of the robot  140 , the supply pallet  12  and the delivery pallet  14 . The control information may be one example of an instruction to the robot  140 . The control information may be one example of an instruction for causing the robot  140  to start an operation on the work  10 . Details of the execution unit  540  are described below. 
     In the present embodiment, the recognition unit  520  may perform concurrently or in parallel parts of a plurality of steps configuring the recognition processing. Similarly, the planning unit  530  may perform concurrently or in parallel parts of a plurality of steps configuring the planning processing. The execution unit  540  may perform concurrently or in parallel parts of a plurality of steps configuring the execution processing. Also, the transfer control apparatus  160  may perform concurrently or in parallel the recognition processing, the planning processing and the execution processing regarding a plurality of works  10 . For example, the transfer control apparatus  160  performs planning processing of a second work and recognition processing of a third work while performing execution processing of a first work. The above-described concurrent processing or parallel processing can be realized by a pipeline processing technology, for example. 
     In the present embodiment, the concurrent processing or concurrent processing control unit  550  controls the parallel processing in the transfer control apparatus  160 . In one embodiment, the concurrent processing control unit  550  controls the concurrent processing or parallel processing in each of the recognition unit  520 , the planning unit  530  and the execution unit  540 . In another embodiment, in a case in which the transfer control apparatus  160  performs concurrently or in parallel the processing regarding the plurality of works  10 , the concurrent processing control unit  550  controls the recognition unit  520 , the planning unit  530  and the execution unit  540  such that the information can be smoothly exchanged between the recognition unit  520 , the planning unit  530  and the execution unit  540 . 
     First Embodiment of Controlling Other Elements by Concurrent Processing Control Unit  550   
     In one embodiment, the concurrent processing control unit  550  estimates a period of time that is from a time when the robot  140  receives the control information for starting the operation on the work  10  to a time when the operation of the robot  140  on the work  10  is ended. For example, the trajectory information includes information regarding (i) an initial position and an initial posture of the picking hand  412 , (ii) a position and a posture of the picking hand  412  picking the work  10  on the supply pallet  12 , (iii) a position and a posture of the picking hand  412  arranging the work  10  on the delivery pallet  14 , and (iv) move time of the work  10 . Here, the concurrent processing control unit  550  may estimate the above-described time based on the trajectory information generated by the planning unit  530 . 
     The concurrent processing control unit  550  may determine a constraint condition regarding an amount or duration time of calculation of the processing in at least one of the recognition unit  520 , the planning unit  530  and the execution unit  540  based on the above-described estimation result. For example, the concurrent processing control unit  550  determines the constraint condition regarding the amount or duration time of calculation of the processing in at least one of a plurality of steps configuring the recognition processing in the recognition unit  520  based on the above-described estimation result. The recognition unit  520  may adjust the amount or duration time of calculation based on the above-described constraint condition. Similarly, the concurrent processing control unit  550  may determine the constraint condition regarding the amount or duration time of calculation of the processing in at least one of a plurality of steps configuring the planning processing in the planning unit  530  based on the above-described estimation result. The planning unit  530  may adjust the amount or duration time of calculation based on the above-described constraint condition. 
     The constraint condition may be at least one of (i) the maximum value of an amount or duration time of calculation that is until progress of each processing reaches a preset milestone and (ii) the maximum value of an amount or duration time of calculation that is until each processing is completed. The above-described maximum value may be determined based on the above-described estimation result. 
     For example, in a case in which the transfer control apparatus  160  performs the planning processing of the second work and the recognition processing of the third work while performing the execution processing of the first work, the concurrent processing control unit  550  determines the maximum value of the amount or duration time of calculation of the planning processing of the second work such that the planning processing of the second work in the planning unit  530  is ended before the above-described estimate time is expired or elapsed. Accordingly, the trajectory information or control information regarding the second work can be generated before the execution processing of the first work in the execution unit  540  is ended. 
     Similarly, the concurrent processing control unit  550  may determine the maximum value of the amount or duration time of calculation of the recognition processing of the third work such that the recognition processing of the third work in the recognition unit  520  is ended before the planning processing of the second work in the planning unit  530  is ended. The concurrent processing control unit  550  may also determines the maximum value of the amount or duration time of calculation of the recognition processing of the third work such that the recognition processing of the third work in the recognition unit  520  ends before the execution processing of the first work in the execution unit  540  is ended. 
     Second Embodiment of Controlling Other Elements by Concurrent Processing Control Unit  550   
     In another embodiment, the concurrent processing control unit  550  adjusts the time between the processing in the recognition unit  520 , the processing in the planning unit  530  and the processing in the execution unit  540 . For example, the concurrent processing control unit  550  adjusts the time between the recognition processing in the recognition unit  520  and the execution processing in the execution unit  540 . More specifically, the concurrent processing control unit  550  adjusts the time between a step in which the recognition unit  520  acquires the point cloud information and a step in which the execution unit  540  detects the abnormality. 
     For example, in a case in which the transfer control apparatus  160  performs the planning processing of the second work and the recognition processing of the third work while performing the execution processing of the first work, the execution unit  540  acquires the point cloud information of the supply pallet  12  in periods of time that are before and after the picking hand  412  picks the first work, to determine whether the abnormality is present or absent. Also, the execution unit  540  acquires the point cloud information of the delivery pallet  14  in periods of time that are before and after the picking hand  412  arranges the first work, to determine whether the abnormality is present or absent. Accordingly, occurrence of the abnormality can be rapidly detected. On the other hand, in the recognition processing of the recognition unit  520 , for example, the process of recognizing the third work and the process of acquiring the point cloud information of the supply pallet  12  or the delivery pallet  14  are performed concurrently. Because the duration time of calculation for the process of acquiring the point cloud information is shorter compared to the process of recognizing the work, the recognition unit  520  can perform the process of acquiring the point cloud information for multiple times while performing the process of recognizing the work. 
     Here, the concurrent processing control unit  550  controls the recognition unit  520 , for example, to adjust the time at which the recognition unit  520  starts the step of acquiring the point cloud information of the supply pallet  12  or the delivery pallet  14  in accordance with the progress of the execution processing of the first work by the execution unit  540 . According to one embodiment, the concurrent processing control unit  550  estimates the time at which the picking hand  412  picks the first work or estimates the picking hand  412 , to control the recognition unit  520  such that the recognition unit  520  starts the step of acquiring the point cloud information in accordance with the time. The concurrent processing control unit  550  may estimate the above-described time based on the trajectory information generated by the planning unit  530 . According to another embodiment, at the time when the picking hand  412  picks the first work or the time when the picking hand  412  arranges the first work, if the step of acquiring the point cloud information is being performed, the recognition unit  520  suspends the step and newly starts the process of acquiring the point cloud information. 
       FIG. 6  schematically shows one example of an internal configuration of the recognition unit  520 . In the present embodiment, the recognition unit  520  includes a position and posture information generating unit  610  and a point cloud information generating unit  620 . The position and posture information generating unit  610  may be one example of an image acquiring unit, a point cloud information acquiring unit, a container information acquiring unit and a holding information extracting unit. The point cloud information generating unit  620  may be one example of the image acquiring unit and the point cloud information acquiring unit. 
     In the present embodiment, the position and posture information generating unit  610  acquires, from the image capturing apparatus  152  and the image capturing apparatus  154 , image data of each of the one or more supply pallets  12  and the one or more delivery pallets  14  arranged at the working positions of the transfer apparatus  130 . The position and posture information generating unit  610  may also acquire, from the image capturing apparatus  152  and the image capturing apparatus  154 , point cloud data of each of the one or more supply pallets  12  and the one or more delivery pallets  14  arranged at the working positions of the transfer apparatus  130 . The above-described point cloud data may be three-dimensional point cloud data. 
     In the present embodiment, the position and posture information generating unit  610  acquires working information from the article management apparatus  110 . As described above, the working information includes information indicating the picking sequence of the one or more articles by the transfer apparatus  130 , for example. The working information may include identification information of an article that is to be the working target of the transfer apparatus  130 . The working information, information indicating an article that is the working target, information indicating a supply pallet  12  that is the move source and information indicating a delivery pallet  14  that is the move destination may also be stored in association with each other. In a case in which the supply pallet  12  stores a single type of article, the identification information of the supply pallet  12  may also be used as the identification information of the article that is the working target of the transfer apparatus  130 . 
     In the present embodiment, the position and posture information generating unit  610  recognizes at least one (which may be referred to as an element) of (i) the supply pallet  12 , (ii) at least some of the one or more articles stored in the supply pallet  12 , (iii) the delivery pallet  14  and (iv) at least some of the one or more articles stored in the delivery pallet  14 . The position and posture information generating unit  610  may also recognize the work  10  that is the working target of the transfer apparatus  130 . The position and posture information generating unit  610  recognizes a position and a posture of each recognized element. The position and posture information generating unit  610  generates the position and posture information indicating the information of the position and the posture of each recognized element. The position and posture information generating unit  610  sends the generated position and posture information to the planning unit  530 . 
     The position and posture information generating unit  610  recognizes the position and the posture of each element according the following procedures, for example. For example, the position and posture information generating unit  610  first analyzes the working information to identify the article being the working target. Next, the position and posture information generating unit  610  accesses to the recognition information storing unit  510  and extracts, by taking the identification information of the article being the working target as a key, from among the information stored in the recognition information storing unit  510 , at least one of the two-dimensional information, the three-dimensional information and the feature information of the article associated with the identification information. At this time, the position and posture information generating unit  610  may also extract holding information that is associated with the identification information of the article being the working target. 
     The recognition information storing unit  510  may not store information of some articles of the articles included in the working information. Here, in a case in which the information regarding the article being the working target is not stored in the recognition information storing unit  510 , the position and posture information generating unit  610  accesses to the article information storing unit  250  and extracts, by taking the identification information of the article as the key, from among the information stored in the article information storing unit  250 , at least one of the two-dimensional information, the three-dimensional information and the feature information of the article associated with the identification information. At this time, the position and posture information generating unit  610  may also extract holding information associated with the identification information of the article being the working target. When the position and posture information generating unit  610  acquires information from the article information storing unit  250 , the position and posture information generating unit  610  may store, in the recognition information storing unit  510 , the information and the identification information of the above-described article and store the information in association with each other. 
     Next, the position and posture information generating unit  610  acquires, from the image capturing apparatus  152  and the image capturing apparatus  154 , image data of each of the one or more supply pallets  12  and the one or more delivery pallets  14  arranged at the working positions of the transfer apparatus  130 . The recognition unit  520  may also acquire, from the image capturing apparatus  152  and the image capturing apparatus  154 , point cloud data of each of the one or more supply pallets  12  and the one or more delivery pallets  14  arranged at the working positions of the transfer apparatus  130 . Accordingly, the position and posture information generating unit  610  can acquire the information regarding the state of the surface at least one of the supply pallet  12  and the delivery pallet  14 . 
     Next, the position and posture information generating unit  610  analyzes the image data or the point cloud data of each of the one or more supply pallets  12  by using at least one of the two-dimensional information, the three-dimensional information and the feature information of the article being the working target to recognize (i) the position and the posture of each supply pallet  12  and (ii) the positions and the postures of at least some of the one or more articles stored in each supply pallet  12 . Similarly, the position and posture information generating unit  610  recognizes (i) the position and the posture of the delivery pallet  14  and (ii) the positions and the postures of at least some of the one or more articles stored in the delivery pallet  14 . 
     The position and posture information generating unit  610  may also select the work  10  being the working target of the transfer apparatus  130  from among the articles stored in the one or more supply pallets  12 . The position and posture information generating unit  610  may select the work  10  being the working target of the transfer apparatus  130  from among the articles whose positions and postures having already been recognized. Note that the process of selecting the work  10  may also be performed in the planning unit  530 . 
     In the present embodiment, the point cloud information generating unit  620  generates the point cloud information of at least one of the supply pallet  12  and the delivery pallet  14 . The point cloud information generating unit  620  generates the point cloud information according to the following procedures, for example. In one embodiment, the point cloud information generating unit  620  first acquires, from the image capturing apparatus  152  and the image capturing apparatus  154 , point cloud data of each of the one or more supply pallets  12  and the one or more delivery pallets  14  arranged at the working positions of the transfer apparatus  130 . Next, the point cloud information generating unit  620  associates the point cloud data of each of the one or more supply pallets  12  and the one or more delivery pallets  14  with the identification information thereof to generate the point cloud information of each of the one or more supply pallets  12  and the one or more delivery pallets  14 . 
     In another embodiment, the point cloud information generating unit  620  first acquires, from the image capturing apparatus  152  and the image capturing apparatus  154 , image data of each of the one or more supply pallets  12  and the one or more delivery pallets  14  arranged at the working positions of the transfer apparatus  130 . Next, the point cloud information generating unit  620  acquires the point cloud data of each of the one or more supply pallets  12  and the one or more delivery pallets  14  based on the image data of each of the one or more supply pallets  12  and the one or more delivery pallets  14  arranged at the working positions of the transfer apparatus  130 . Next, the point cloud information generating unit  620  associates the point cloud data of each of the one or more supply pallets  12  and the one or more delivery pallets  14  with the identification information thereof to generate the point cloud information of each of the one or more supply pallets  12  and the one or more delivery pallets  14 . 
     In the present embodiment, the point cloud information generating unit  620  sends the point cloud information to the planning unit  530 . The point cloud information generating unit  620  may also send the point cloud information to the execution unit  540 . The point cloud information generating unit  620  may also generate the point cloud information in accordance with an instruction or a request from the execution unit  540  or the concurrent processing control unit  550 , and send the point cloud information to the execution unit  540 . 
       FIG. 7  schematically shows one example of an internal configuration of the planning unit  530 . In the present embodiment, the planning unit  530  includes a holding planning unit  710 , an arrangement planning unit  720 , an evaluation information storing unit  730 , a trajectory candidate extracting unit  740 , a trajectory planning unit  750  and a control information generating unit  760 . 
     The holding planning unit  710  may be one example of a first candidate information generating unit. The arrangement planning unit  720  may be one example of a second candidate information generating unit. The trajectory candidate extracting unit  740  may be one example of the first candidate information acquiring unit, the second candidate information acquiring unit and the extracting unit. The trajectory planning unit  750  may be one example of the trajectory information generating unit, the trajectory calculating unit, the determining unit, the trajectory determining unit, and the interpolation trajectory generating unit. 
     In the present embodiment, the holding planning unit  710  plans a holding method of the work  10  by the picking hand  412 . Specifically, the holding planning unit  710  determines the position and the posture of the picking hand  412  when the picking hand  412  holds the work  10  stored in the supply pallet  12 . For example, the holding planning unit  710  extracts one or more postures (which may be referred to as holding candidates) that the picking hand  412  can take on a position (which may be referred to as a picking position) on which the picking hand  412  holds the work  10 , with reference to (i) the position and posture information of the supply pallet  12 , (ii) the position and posture information of the one or more articles stored in the supply pallet  12 , (iii) the point cloud information of the supply pallet  12  and (iv) the holding information acquired by the recognition unit  520  from the recognition information storing unit  510  or the article management apparatus  110 . The picking position may be one example of a first position. 
     For example, if the picking hand  412  holds, according to the holding method indicated by the holding information, an article that is of at least some of the one or more articles stored in the supply pallet  12 , the holding planning unit  710  determines whether or not the picking hand  412  interferes with the supply pallet  12  and other articles. When the holding planning unit  710  determines that the picking hand  412  does not interfere with the supply pallet  12  and other articles, the holding planning unit  710  extracts the position and the posture of the picking hand  412  at that time as the holding candidate. The holding planning unit  710  repeats the above-described determining processing within a range of a constraint condition regarding the amount or duration time of calculation set by the concurrent processing control unit  550 . Accordingly, the holding planning unit  710  can generate the information regarding one or more holding candidates. The holding planning unit  710  sends the information regarding the one or more holding candidates to the trajectory candidate extracting unit  740 . The information regarding the one or more holding candidates may be one example of the first candidate information. 
     In the present embodiment, the arrangement planning unit  720  plans an arrangement method of the work  10  by the picking hand  412 . Specifically, the arrangement planning unit  720  determines the position and the posture of the picking hand  412  when the picking hand  412  arranges the work  10  on the delivery pallet  14 . For example, the arrangement planning unit  720  extracts one or more postures (which may be referred to as arrangement candidates) that the picking hand  412  can take on a position (which may be referred to as an arrangement position) on which the picking hand  412  arranges the work  10 , with reference to (i) the position and posture information of the delivery pallet  14 , (ii) the position and posture information of the one or more articles stored in the delivery pallet  14 , (iii) the point cloud information of the delivery pallet  14  and (iv) the holding information acquired by the recognition unit  520  from the recognition information storing unit  510  or the article management apparatus  110 . The arrangement position may be one example of a second position. 
     For example, if the picking hand  412  arranges, according to the holding method indicated by the holding information, the work  10  at any position or a specific position of the delivery pallet  14 , the arrangement planning unit  720  determines whether or not the picking hand  412  and the work  10  interfere with the delivery pallet  14  and other articles. When the arrangement planning unit  720  determines that the picking hand  412  and the work  10  do not interfere with the delivery pallet  14  and the other articles, the arrangement planning unit  720  extracts the position and the posture of the picking hand  412  at that time as the arrangement candidate. The arrangement planning unit  720  repeats the above-described determining processing within a range of the constraint condition regarding the amount or duration time of calculation set by the concurrent processing control unit  550 . Accordingly, the arrangement planning unit  720  can generate the information regarding one or more arrangement candidates. Note that the arrangement planning unit  720  may also repeat the above-described determining processing until all articles included in the user order information are arranged on the delivery pallets  14 . The arrangement planning unit  720  sends the information regarding the one or more arrangement candidates to the trajectory candidate extracting unit  740 . The information regarding the one or more arrangement candidates may be one example of the second candidate information. 
     In the present embodiment, the evaluation information storing unit  730  stores information (which may be referred to as evaluation information) regarding a determination reference for extracting a specific trajectory candidate from among one or more trajectory candidates during a process of extracting the trajectory candidates by the trajectory candidate extracting unit  740 . As the evaluation information, (i) information for evaluating a period of time during which the picking hand  412  moves from one position to another position, (ii) information for evaluating a period of time during which the picking hand  412  moves from one position to another position with a posture, (iii) information for evaluating a period of time during which the picking hand  412  moves from one position with one posture to another position and (iv) information for evaluating a period of time during which the picking hand  412  moves from one position with one posture to another position with another posture can be illustrated. The period of time of the movement from one position to another position may be evaluated based on an actual measurement value during a trial operation, a previous operation history, empirical laws and the like, for example. 
     In the present embodiment, the trajectory candidate extracting unit  740  extracts a specific candidate (which may be referred to as a trajectory candidate) from among a plurality of candidates associated with the trajectorys of the picking hand  412 . The trajectory candidate is indicated according to an initial arrangement and a final arrangement of the picking hand  412 , for example. The trajectory candidate may also be indicated according to the initial arrangement, one or more passing arrangements, and the final arrangement of the picking hand  412 . Each of the initial arrangement, the one or more passing arrangements, and the final arrangement of the picking hand  412  may also include information regarding the positions and postures of the picking hand  412 . At least one of the initial arrangement, the one or more passing arrangements, and the final arrangement of the picking hand  412  may include information regarding the positions of the picking hand  412  and also, may not include the information regarding the postures of the picking hand  412 . 
     The trajectory candidate extracting unit  740  extracts the trajectory candidates according to the following procedures, for example. The trajectory candidate extracting unit  740  first receives information regarding one or more holding candidates from the holding planning unit  710 . Accordingly, for example, the trajectory candidate extracting unit  740  acquires M holding candidates, where M is an integer being 0 or equal to or more than 1. Also, the trajectory candidate extracting unit  740  receives information regarding the one or more arrangement candidates from the arrangement planning unit  720 . Accordingly, for example, the trajectory candidate extracting unit  740  acquires N arrangement candidates, where N is an integer being 0 or equal to or more than 1. 
     At this time, the trajectory candidate extracting unit  740  may also acquire information indicating a position (which may be referred to as a starting position) of the picking hand  412  when the robot  140  starts working on a work or a position and a posture of the picking hand  412  when the robot  140  starts working on the work. The starting position may be one example of a third position. In one embodiment, the starting position of the picking hand  412  may be an immediately preceding arrangement position of the work. Also, the posture of the picking hand  412  on the starting position may be a posture of the picking hand  412  on the immediately preceding arrangement position of the work. In another embodiment, the position and the posture of the picking hand  412  when the robot  140  starts working on the work may also be predetermined. 
     Next, the trajectory candidate extracting unit  740  extracts one combination from among M×N combinations regarding M holding candidates and N arrangement candidates. The trajectory candidate extracting unit  740  sends the information indicating the extracted combination, as the trajectory candidates, to the trajectory planning unit  750 . 
     The trajectory candidate extracting unit  740  extracts the combination being the trajectory candidate according to the following procedures, for example. First, the trajectory candidate extracting unit  740  calculates, for a combination of one of the M holding candidates and one of the N arrangement candidates, an evaluation function for a period of time during which the picking hand  412  moves from holding position and posture indicated by the selected holding candidate to arrangement position and posture indicated by the selected arrangement candidate. The trajectory candidate extracting unit  740  may calculate the above-described evaluation function with reference to the information stored in the evaluation information storing unit  730 . For example, the evaluation function includes an evaluation item regarding an estimated value of a period of time that is from (i) a time when the picking hand  412  picks the work at a holding position with the posture indicated by the selected holding candidate to (ii) a time when the picking hand  412  arranges the work at an arrangement position with the posture indicated by the selected arrangement candidate. 
     Note that the trajectory candidate extracting unit  740  may also calculate the above-described evaluation function for a trajectory to which the starting position and posture are set as the initial arrangement, the holding position and posture are set as the passing arrangement and the arrangement position and posture are set as the final arrangement. At this time, the evaluation function may include an evaluation item regarding an estimated value of a period of time during which (i) the picking hand  412  moves from the starting position to the holding position, (ii) the picking hand  412  picks a work at the holding position with a posture indicated by the selected holding candidate and (iii) the picking hand  412  arranges the work at the arrangement position with a posture indicated by the selected arrangement candidate. 
     Next, the trajectory candidate extracting unit  740  repeats the process of calculating the evaluation function for each of the combinations of the holding candidates and the arrangement candidates within a range of the constraint condition regarding the amount or duration time of calculation set by the concurrent processing control unit  550 . The trajectory candidate extracting unit  740  selects a combination with the highest evaluation, as the trajectory candidate, among the combinations calculated according to the evaluation function. For example, when the evaluation function is an estimated value of a period of time during which the picking hand  412  moves from the starting position to the arrangement position, if the estimated value of the combination is smaller, the evaluation for the combination is higher. Note that when the calculated evaluation function satisfies the predetermined condition, even if the above-described constraint condition is satisfied, the trajectory candidate extracting unit  740  may also cancel the process of calculating the evaluation function and select a combination of the holding candidate and the arrangement candidate at that time, as the trajectory candidate. 
     In the present embodiment, the trajectory planning unit  750  generates the trajectory information prescribing the trajectory on which the picking hand  412  picks a work at a holding position and arranges the work at an arrangement position. The trajectory planning unit  750  may also generate trajectory information prescribing a trajectory on which the picking hand  412  moves from the starting position to a holding position, picks a work at the holding position, and arranges the work to an arrangement position. The trajectory planning unit  750  sends the generated trajectory information to the control information generating unit  760 . 
     The trajectory planning unit  750  generates the trajectory information according to the following procedures, for example. The trajectory planning unit  750  first receives information indicating a combination of a holding candidate and an arrangement candidate from the trajectory candidate extracting unit  740 . Next, the trajectory planning unit  750  calculates a trajectory on which (i) the picking hand  412  picks, at the holding position, a work with a posture indicated by the holding candidate included in the combination extracted by the trajectory candidate extracting unit  740  and (ii) the picking hand  412  arranges, on the arrangement position, the work with a posture indicated by the arrangement candidate included in the combination extracted by the trajectory candidate extracting unit  740 . At this time, the trajectory planning unit  750  may also calculate a trajectory on which (i) the picking hand  412  moves from the starting position to the holding position, (ii) the picking hand  412  picks, at the holding position, a work with a posture indicated by the holding candidate included in the combination extracted by the trajectory candidate extracting unit  740  and (iii) the picking hand  412  arranges, at the arrangement position, the work with a posture indicated by the arrangement candidate included in the combination extracted by the trajectory candidate extracting unit  740 . 
     The trajectory planning unit  750  may calculate the above-described trajectory from the combination of the holding candidate and the arrangement candidate according to a predetermined algorithm. The trajectory planning unit  750  may also calculate the above-described trajectory from the combination of the holding candidate and the arrangement candidate such that the generated trajectory satisfies a predetermined condition. 
     Next, the trajectory planning unit  750  determines whether the interference is present or absent on the calculated trajectory. For example, the trajectory planning unit  750  determines whether or not another object (for example, an obstacle, another device, another element of the robot  140 , and the like) interferes with the picking hand  412  when the picking hand  412  moves along the calculated trajectory. Note that during a step after the picking hand  412  picks the work  10 , the trajectory planning unit  750  determines whether or not another object interferes with the picking hand  412  and the work  10 . 
     The trajectory planning unit  750  may also divide the calculated trajectory into a plurality of zones and determine whether the interference is present or absent for each zone. The process of determining the interference for each zone may be performed concurrently or in parallel. When there is even only one zone in which the interference occurs, the trajectory planning unit  750  can determine that the interference occurs on the trajectory even if the determining processing for another zone is not ended. Accordingly, the determination time can be shortened. 
     The trajectory planning unit  750  determines the trajectory of the picking hand  412  based on the above-described determination result. For example, the trajectory planning unit  750  generates an interpolation trajectory of the trajectory if the trajectory planning unit  750  determines that no interference occurs on the calculated trajectory. Accordingly, an excessive acceleration can be prevented from being applied to the work  10 . Also, the trajectory planning unit  750  generates the trajectory information prescribing the above-described interpolation trajectory. The trajectory information may be information indicating an angle of each joint of the robot arm  414  at each time. 
     On the other hand, when the trajectory planning unit  750  determines that the interference occurs on the calculated trajectory, the trajectory planning unit  750  accesses to the trajectory candidate extracting unit  740  to request for information indicating a combination having an evaluation that is next highest after the previous combination. As the trajectory planning unit  750  receives the information indicating a new combination from the trajectory candidate extracting unit  740 , the trajectory planning unit  750  generates the trajectory information according to procedures similar to the above-described procedures. The combination having the next highest evaluation may be one example of another combination. 
     In a case in which the amount or duration time of calculation in the trajectory planning unit  750  satisfies the predetermined condition, the trajectory planning unit  750  suspends the process regarding the current combination. For example, the trajectory planning unit  750  determines the amount or duration time of calculation allocated to the above-described determining processing so as to generate the trajectory information within a range of the constraint condition regarding the amount or duration time of calculation set by the concurrent processing control unit  550 . If the determining processing is not ended even when the determined amount or duration time of calculation is exceeded, the trajectory planning unit  750  suspends the determining processing regarding the current combination. After that, the trajectory planning unit  750  accesses to the trajectory candidate extracting unit  740  to request for information indicating a combination having an evaluation that is next highest after the current combination. As the trajectory planning unit  750  receives the information indicating a new combination from the trajectory candidate extracting unit  740 , the trajectory planning unit  750  generates the trajectory information according to procedures similar to the above-described procedures. 
     In the present embodiment, the control information generating unit  760  generates the control information for controlling the picking hand  412  and the robot arm  414 . For example, the control information generating unit  760  receives the trajectory information from the trajectory planning unit  750 . For example, the control information generating unit  760  adds, to the trajectory information generated by the trajectory planning unit  750 , the another information that is necessary for controlling the picking hand  412  and the robot arm  414  to generate the control information. The control information generating unit  760  may also convert the trajectory information generated by the trajectory planning unit  750  into a format in accordance with the type of the robot  140  to generate the control information. The control information generating unit  760  sends the control information to the execution unit  540 . 
       FIG. 8  schematically shows another example of the internal configuration of the execution unit  540 . In the present embodiment, the execution unit  540  includes a control information sending unit  810  and an execution monitoring unit  820 . The control information sending unit  810  may be one example of the instruction sending unit. The execution monitoring unit  820  may be one example of the control device, the point cloud information acquiring unit, the abnormality detection unit and the instruction sending unit. 
     In the present embodiment, the control information sending unit  810  sends various control information to each unit of the distribution management system  100  to control at least some of the distribution management system  100 . The control information sending unit  810  may also control the transfer apparatus  130  or the transfer control apparatus  160 . For example, the control information sending unit  810  sends the control information for controlling the robot  140  to the drive control unit  430  to control the operation of the robot  140 . If the control information sending unit  810  receives, from the execution monitoring unit  820 , a detection signal indicating that an abnormality is detected, the control information sending unit  810  may also send an instruction for suspending the operation of the robot  140  to the robot  140 . 
     The control information sending unit  810  may also control the image capturing apparatus  152  and the image capturing apparatus  154 . For example, the control information sending unit  810  may control a position, an angle, magnification and the like of an image capturing apparatus for each image capturing apparatus. 
     The control information sending unit  810  may also control at least one of the recognition unit  520  and the planning unit  530 . For example, if an abnormality occurs on the robot  140 , the control information sending unit  810  suspends the current process and sends an instruction for starting new recognition processing and planning processing to the recognition unit  520  and the planning unit  530 . The control information sending unit  810  requests, at a specific time, the point cloud information generating unit  620  to send point cloud information of at least one of the supply pallet  12  and the delivery pallet  14 . The supply pallet  12  and the delivery pallet  14  may be one example of a region including at least one of the picking hand  412  and the work  10 . 
     As the above-described specific time, at least one of the followings can be illustrated: (i) a time at which the picking hand  412  picks the work  10  at the holding position, (ii) a time at which the picking hand  412  moves the work  10  out of the supply pallet  12 , (iii) a time at which the picking hand  412  moves the work  10  in the delivery pallet  14 , (iv) a time at which the picking hand  412  arranges the work  10  at the arrangement position. Accordingly, an abnormality such as an interference and load collapse can be detected in an early stage. 
     In the present embodiment, the execution monitoring unit  820  monitors the operation of the robot  140 , the supply pallet  12  and the delivery pallet  14 . For example, the execution monitoring unit  820  receives, from the point cloud information generating unit  620 , the point cloud information of at least one of the supply pallet  12  and the delivery pallet  14  at the above-described specific time. The execution monitoring unit  820  detects the abnormality based on the above-described point cloud information. The execution monitoring unit  820  may also detect the abnormality based on (i) the above-described point cloud information and (ii) at least one selected from a group including: a measurement value for a sensor arranged on the robot  140 ; a control value for at least one of the picking hand  412  and the robot arm  414 ; and at least one of torque, a voltage value and a current value for the driving unit  420 . 
     If the abnormality is detected, the execution monitoring unit  820  sends a detection signal indicating that the abnormality is detected to the control information sending unit  810 , for example. If the abnormality is detected, the execution monitoring unit  820  may also send an instruction for suspending the operation of the robot  140  to the robot  140 . 
       FIG. 9  schematically shows one example of information processing in the transfer control apparatus  160 . According to the present embodiment, first, in a step  902  (the term “step” may be abbreviated as the letter “S”), the recognition unit  520  receives user order information or working information from the article management apparatus  110 . The recognition unit  520  analyzes the user order information or the working information. For example, the recognition unit  520  determines the picking sequence of one or more articles to the transfer apparatus  130  based on the user order information or the working information. The recognition unit  520  may generate information in which the identification information of the one or more articles are arranged in the picking sequence to the transfer apparatus  130 . 
     In S 912 , the recognition unit  520  performs recognition processing. In S 914 , the planning unit  530  performs planning processing. In S 916 , the execution unit  540  performs execution processing. Also, the execution unit  540  monitors the operation of the robot  140  and the supply pallet  12  and the delivery pallet  14  during a period in which the robot  140  transfers the work  10 . When occurrence of the abnormality is detected, the execution unit  540  suspends the processing in S 916  and starts the processing from S 912  again. 
     Next, in S 920 , the execution unit  540  determines whether or not the transfer processing of all articles included in the user order information or working information is ended, for example. If the execution unit  540  determines that the transfer processing of all articles is ended (in a case of “Yes” in S 920 ), the execution unit  540  ends the processing. On the other hand, if the execution unit  540  determines that the transfer processing of all articles is not ended (in a case of “No” in S 920 ), the execution unit  540  performs, on a next article, processing from S 912  to S 920 . 
       FIG. 10  schematically shows one example of the recognition processing in S 912 . In the present embodiment, (i) the process of generating the point cloud information and the position and posture information regarding the supply pallet  12  and (ii) the process of generating the point cloud information and the position and posture information regarding the delivery pallet  14  are performed concurrently or in parallel. In the present embodiment, the process of generating the point cloud information and the process of generating the position and posture information are performed concurrently or in parallel. 
     According to the present embodiment, in S 1022 , the position and posture information generating unit  610  acquires the image data of the supply pallet  12  from the image capturing apparatus  152 . Also, the point cloud information generating unit  620  acquires the point cloud data of the supply pallet  12  from the image capturing apparatus  152 . The point cloud information generating unit  620  may also generate the point cloud data of the supply pallet  12  based on the image data of the supply pallet  12 . 
     Next, in S 1024 , the point cloud information generating unit  620  generates the point cloud information of the supply pallet  12 . Also, in S 1026 , the position and posture information generating unit  610  generates the position and posture information of the supply pallet  12  and the article stored in the supply pallet  12 . In the present embodiment, S 1024  and S 1026  are performed concurrently or in parallel. Note that during a period in which S 1026  is performed for one time, S 1024  may be performed for multiple times. 
     On the other hand, in S 1042 , the position and posture information generating unit  610  acquires the image data of the delivery pallet  14  from the image capturing apparatus  154 . Also, the point cloud information generating unit  620  acquires the point cloud data of the delivery pallet  14  from the image capturing apparatus  154 . The point cloud information generating unit  620  may also generate the point cloud data of the delivery pallet  14  based on the image data of the delivery pallet  14 . In the present embodiment, S 1022  and S 1042  are performed concurrently or in parallel. 
     Next, in S 1044 , the point cloud information generating unit  620  generates the point cloud information of the delivery pallet  14 . Also, in S 1046 , the position and posture information generating unit  610  generates the position and posture information of the delivery pallet  14  and the article stored in the delivery pallet  14 . In the present embodiment, S 1044  and S 1046  are performed concurrently or in parallel. Note that during a period in which S 1046  is performed for one time, S 1044  may also be performed for multiple times. 
       FIG. 11  schematically shows one example of the planning processing in S 914 . In the present embodiment, the process of extracting the holding candidate in the holding planning unit  710  and the process of extracting the arrangement candidate in the arrangement planning unit  720  are performed concurrently or in parallel. According to the present embodiment, in S 1120 , the holding planning unit  710  extracts the holding candidate. Also, in S 1140 , the arrangement planning unit  720  extracts the arrangement candidate. In the present embodiment, S 1120  and S 1140  are performed concurrently or in parallel. After that, in S 1160 , the trajectory candidate extracting unit  740  extracts the trajectory candidate and the trajectory planning unit  750  determines the trajectory. Also, in S 1180 , an interpolation trajectory of the determined trajectory is generated. 
       FIG. 12  schematically shows one example of the trajectory planning processing in S 1160 . In the present embodiment, the processes in which the trajectory candidate extracting unit  740  calculates the evaluation functions for at least some of M×N combinations regarding M holding candidates and N arrangement candidates are performed concurrently or in parallel. According to the present embodiment, in S 1202 , the trajectory candidate extracting unit  740  calculates the evaluation function for each of the M×N combinations regarding the M holding candidates and the N arrangement candidates. At this time, the trajectory candidate extracting unit  740  performs the process of calculating the evaluation function for each of the M×N combinations concurrently or in parallel. After that, in S 1204 , the trajectory candidate extracting unit  740  extracts one combination from among the M×N combinations based on the evaluation function of each combination. 
     Next, in S 1206 , the trajectory planning unit  750  calculates a trajectory on which (i) the picking hand  412  picks, at a holding position, a work with a posture indicated by the holding candidate included in the combination extracted by the trajectory candidate extracting unit  740  and (ii) the picking hand  412  arranges, at an arrangement position, the work with a posture indicated by the arrangement candidate included in the combination extracted by the trajectory candidate extracting unit  740 . 
     In S 1208 , the trajectory planning unit  750  determines whether the interference is present or absent on the calculated trajectory. In the present embodiment, the trajectory planning unit  750  divides the calculated trajectory into a plurality of zones to determine whether the interference is present or absent for each zone. If it is determined that no interference occurs on the trajectory in all zones (in a case of “Yes” in S 1208 ), the trajectory planning unit  750  ends the processing. Note that even in this case, the processing from S 1204  to S 1208  may also be repeated within a range of the constraint condition regarding the amount or duration time of calculation set by the concurrent processing control unit  550 . On the other hand, if it is determined that an interference occurs on the trajectory in at least some zones (in a case of “No” in S 1208 ), the processing from S 1204  to S 1208  is repeated. 
       FIG. 13  schematically shows one example of the interference checking processing in S 1208 . In the present embodiment, the trajectory planning unit  750  divides the trajectory calculated in S 1206  into a plurality of zones to determine whether an interference is present or absent for each zone. Also, the trajectory planning unit  750  performs the determining processing in at least two zones concurrently or in parallel. According to the present embodiment, in S 1302 , the trajectory planning unit  750  determines whether the interference is present or absent on the trajectory calculated in S 1206 . The trajectory planning unit  750  divides the trajectory calculated in S 1206  into a plurality of zones to determine whether the interference is present or absent for each zone. The trajectory planning unit  750  performs the determining processing in all zones concurrently or in parallel, for example. 
     In the determining processing for each zone, if the duration time or amount of calculation exceeds a predetermined threshold before the determining processing is ended (in a case of “Yes” in S 1304 ), the trajectory planning unit  750  cancels the determining processing in all zones and returns to the processing in S 1204 . On the other hand, if the determining processing is ended before the duration time or amount of calculation exceeds the predetermined threshold and when it is determined that an interference occurs in one zone (in a case of “Yes” in S 1306 ), the trajectory planning unit  750  cancels the determining processing in all zones and returns to the processing in S 1204 . On the other hand, if the determining processing is ended before the duration time or amount of calculation exceeds the predetermined threshold and when it is determined that an interference does not occur in the zone (in a case of “No” in S 1306 ), the determining processing in the zone is ended. 
     Concurrent processing between works or between orders in the transfer control apparatus  160  is described by using  FIG. 14 ,  FIG. 15  and  FIG. 16 .  FIG. 14  schematically shows one example of the data table  1400 .  FIG. 15  schematically shows one example of the concurrent processing between works.  FIG. 16  schematically shows one example of the concurrent processing between works. 
     As shown in  FIG. 14 , in the present embodiment, the data table  1400  stores a work ID  1410 , an order ID  1420  and contents  1430  of an order in association with each other. The contents  1430  of the order include an article ID  1432  for identifying an article to be a transfer target, a supply pallet ID  1434  for identifying a supply pallet, and a delivery pallet ID  1436  for identifying a delivery pallet, for example. 
     As shown in  FIG. 15 , according to the present embodiment, the planning unit  530  performs, after performing planning processing of a work having the work ID  1410  being W_ 0001  and before completing execution processing of the work having the work ID  1410  being W_ 0001 , planning processing of the work having the work ID  1410  being W_ 0002  and recognition processing of the work having the work ID  1410  being W_ 0003 . Accordingly, during the period in which the execution processing of the work having the work ID  1410  being W_ 0001  is performed, the planning processing of the work having the work ID  1410  being W_ 0002  is performed and the recognition processing of the work having the work ID  1410  being W_ 0003  is performed. 
     The amount or duration time of calculation of the planning processing of the work having the work ID  1410  being W_ 0002  is adjusted such that the planning processing is ended before the execution processing of the work having the work ID  1410  being W_ 0001  is completed, for example. More specifically, the concurrent processing control unit  550  adjusts the amount or duration time of calculation of the planning unit  530  according to the following procedures. 
     For example, the concurrent processing control unit  550  estimates a period of time that is from the time when the robot  140  receives the control information regarding a work having the work ID  1410  being W_ 0001  to the time when the operation of the robot  140  on the work is ended. The concurrent processing control unit  550  may also estimate the above-described period of time based on the trajectory information of the work having the work ID  1410  being W_ 0001 . The above-described period of time may be one example of the constraint condition. The concurrent processing control unit  550  sends the above-described estimation result to the planning unit  530 . 
     On the other hand, the planning unit  530  adjusts the amount of calculation of the work planning processing such that the planning processing of the work having the work ID  1410  being W_ 0002  is completed before the period of time estimated by the concurrent processing control unit  550  is expired or elapsed. For example, the amount of calculation of the planning processing is adjusted by adjusting a value of the threshold in S 1304 . 
     As shown in  FIG. 16 , in the recognition processing of the work having the work ID  1410  being W_ 0001 , the recognition processing of the supply pallet  12  having a supply pallet ID  1434  being S_ 0001  and the recognition processing of the delivery pallet  14  having a delivery pallet ID  1436  being D_ 0001  are performed concurrently or in parallel. Also, in the recognition processing of each supply pallet  12 , the process of generating the point cloud information and the process of generating the position and posture information are performed concurrently or in parallel. Similarly, in the recognition processing of each delivery pallet  14 , the process of generating the point cloud information and the process of generating the position and posture information are performed concurrently or in parallel. 
     In the present embodiment, the process of generating the point cloud information is performed for multiple times during the period in which the recognition processing is performed for one time. Accordingly, the recognition unit  520  can provide the point cloud information to another element (for example, the execution unit  540 ) at a proper time. Also, waiting time in another element until the point cloud information is provided is reduced. 
     While the embodiments of the present invention have been described, the technical scope of the invention is not limited to the above described embodiments. It is apparent to persons skilled in the art that various alterations and improvements can be added to the above-described embodiments. Also, the matters described with reference to a specific embodiment can be applied to another embodiment as long as such application does not cause a technical contradiction. Also, each component may also have a similar feature to another component that has the same name but has a different reference sign. It is also apparent from the scope of the claims that the embodiments added with such alterations or improvements can be included in the technical scope of the invention. 
     The operations, procedures, steps, and stages of each process performed by an apparatus, system, program, and method shown in the claims, embodiments, or diagrams can be performed in any order as long as the order is not indicated by “prior to,” “before,” or the like and as long as the output from a previous process is not used in a later process. Even if the process flow is described using phrases such as “first” or “next” in the claims, embodiments, or diagrams, it does not necessarily mean that the process must be performed in this order. 
     For example, in the specification of the present application, the following matters are described. 
     [Item 1-1] 
     A control device for controlling a picking apparatus that arranges, at a second position, a work that is picked at a first position by using a picking hand, the second position being different from the above-described first position, the control device including: 
     a first candidate information acquiring unit for acquiring first candidate information indicating each of one or more postures that the above-described picking hand takes on the above-described first position; 
     a second candidate information acquiring unit for acquiring second candidate information indicating each of one or more postures that the above-described picking hand takes on the above-described second position; 
     an extracting unit for extracting one combination from among one or more combinations regarding one or more postures indicated by the above-described first candidate information and one or more postures indicated by the above-described second candidate information; 
     a trajectory calculating unit for calculating a trajectory on which (i) the above-described picking hand picks, at the above-described first position, the above-described work with a posture associated with the above-described first position included in the above-described one combination and (ii) the above-described picking hand arranges, at the above-described second position, the above-described work with a posture associated with the above-described second position included in the above-described one combination; and 
     a determining unit for determining whether an interference is present or absent on the trajectory calculated by the above-described trajectory calculating unit. 
     [Item 1-2] 
     The control device according to Item 1-1, wherein 
     when the above-described determining unit determines that the interference occurs on the above-described trajectory, 
     the above-described extracting unit extracts another combination from among the above-described one or more combinations, 
     the above-described trajectory calculating unit calculates a trajectory on which (i) the above-described picking hand picks, at the above-described first position, the above-described work with a posture associated with the above-described first position included in the above-described other combination and (ii) the above-described picking hand arranges, at the above-described second position, the above-described work with a posture associated with the above-described second position included in the above-described other combination, and 
     the above-described determining unit determines whether the interference is present or absent on the trajectory being calculated by the above-described trajectory calculating unit and being associated with the above-described other combination. 
     [Item 1-3] 
     The control device according to Item 1-1, wherein 
     when an amount or duration time of calculation in at least one of the above-described extracting unit, the above-described trajectory calculating unit and the above-described determining unit satisfies a predetermined condition, 
     the above-described extracting unit extracts another combination from among the above-described one or more combinations, 
     the above-described trajectory calculating unit calculates a trajectory on which (i) the above-described picking hand picks, at the above-described first position, the above-described work with a posture associated with the above-described first position included in the above-described other combination and (ii) the above-described picking hand arranges, at the above-described second position, the above-described work with a posture associated with the above-described second position included in the above-described other combination, and 
     the above-described determining unit determines whether the interference is present or absent on the trajectory being calculated by the above-described trajectory calculating unit and being associated with the above-described other combination. 
     [Item 1-4] 
     The control device according to any one of Items 1-1 to 1-3, wherein 
     the above-described trajectory calculating unit calculates a trajectory on which (i) the above-described picking hand moves from a third position that is a position of the above-described picking hand when the above-described picking apparatus starts working on the above-described work to the above-described first position, (ii) the above-described picking hand picks, at the above-described first position, the above-described work with a posture associated with the above-described first position included in the combination extracted by the above-described extracting unit and (iii) the above-described picking hand arranges, at the above-described second position, the above-described work with a posture associated with the above-described second position included in the combination extracted by the above-described extracting unit. 
     [Item 1-5] 
     The control device according to any one of Items 1-1 to 1-4, wherein 
     the above-described extracting unit calculates an evaluation function for at least some of the above-described one or more combinations, and 
     selects the above-described one combination based on the above-described evaluation function. 
     [Item 1-6] 
     The control device according to Item 1-5, wherein 
     the above-described evaluation function includes an evaluation item regarding an estimated value of a period of time that is from (i) a time when the above-described picking hand picks, at the above-described first position, the above-described work with the posture associated with the above-described first position included in a combination that is to be an evaluation target by the above-described evaluation function to (ii) a time when the above-described picking hand arranges, at the above-described second position, the above-described work with the posture associated with the above-described second position included in the combination that is to be the evaluation target by the above-described evaluation function. 
     [Item 1-7] 
     The control device according to Item 1-5, wherein 
     the above-described evaluation function includes an evaluation item regarding an estimated value of a period of time that is from (i) a time when the above-described picking hand moves from a third position that is a position of the above-described picking hand when the above-described picking apparatus starts working on the above-described work to the above-described first position, (ii) the above-described picking hand picks, at the above-described first position, the above-described work with a posture associated with the above-described first position included in the combination that is to be an evaluation target by the above-described evaluation function, to (iii) a time when the above-described picking hand arranges, at the above-described second position, the above-described work with a posture associated with the above-described second position included in the combination that is to be the evaluation target by the above-described evaluation function. 
     [Item 1-8] 
     The control device according to any one of Items 1-1 to 1-7, wherein 
     the above-described determining unit divides the trajectory calculated by the above-described trajectory calculating unit into a plurality of zones, 
     determines whether an interference is present or absent for each zone. 
     [Item 1-9] 
     The control device according to any one of Items 1-1 to 1-8, further including a trajectory determining unit for determining a trajectory of the above-described picking hand based on a determination result of the above-described determining unit. 
     [Item 1-10] 
     The control device according to Item 1-9, wherein 
     the above-described trajectory determining unit has an interpolation trajectory generating unit for generating an interpolation trajectory of the trajectory calculated by the above-described trajectory calculating unit. 
     [Item 1-11] 
     A picking system including the control device according to any one of Items 1-1 to 1-10; and 
     the above-described picking apparatus. 
     [Item 1-12] 
     A distribution system including 
     the control device according to any one of Items 1-1 to 1-10; 
     the above-described picking apparatus; and 
     a conveying apparatus to convey the above-described work. 
     [Item 1-13] 
     A program to cause a computer to serve as the control device according to any one of Items 1-1 to 1-10. 
     [Item 1-14] 
     A control method for controlling a picking apparatus that arranges, at a second position, a work picked at a first position by using a picking hand, the second position being different from the above-described first position, the control method including: 
     a first candidate information acquiring step of acquiring first candidate information indicating each of one or more postures that the above-described picking hand takes on the above-described first position; 
     a second candidate information acquiring step of acquiring second candidate information indicating each of one or more postures that the above-described picking hand takes on the above-described second position; 
     an extracting step of extracting one combination from among one or more combinations regarding one or more postures indicated by the above-described first candidate information and one or more postures indicated by the above-described second candidate information; 
     a trajectory calculating step of calculating a trajectory on which (i) the above-described picking hand picks, at the above-described first position, the above-described work with a posture associated with the above-described first position included in the above-described one combination and (ii) the above-described picking hand arranges, at the above-described second position, the above-described work with a posture associated with the above-described second position included in the above-described one combination; and 
     a determining step of determining whether an interference is present or absent on the trajectory calculated in the above-described trajectory calculating step. 
     [Item 1-15] 
     A method of producing a container in which a work is arranged by using a picking apparatus which arranges, at a second position, the above-described work picked at a first position by using a picking hand, the second position being different from the above-described first position, the method of producing the container including: 
     a step of setting a specific position of the above-described container to the above-described second position; 
     a first candidate information acquiring step of acquiring first candidate information indicating each of one or more postures that picking hand takes on the above-described first position; 
     a second candidate information acquiring step of acquiring second candidate information indicating each of one or more postures that the above-described picking hand takes on the above-described second position; 
     an extracting step of extracting one combination from among one or more combinations regarding one or more postures indicated by the above-described first candidate information and one or more postures indicated by the above-described second candidate information; 
     a trajectory calculating step of calculating a trajectory on which (i) the above-described picking hand picks, at the above-described first position, the above-described work with a posture associated with the above-described first position included in the above-described one combination and (ii) the above-described picking hand arranges, at the above-described second position, the above-described work with a posture associated with the above-described second position included in the above-described one combination; and 
     a determining step of determining whether an interference is present or absent on the trajectory calculated in the above-described calculating the trajectory. 
     [Item 2-1] 
     A control device for controlling a picking apparatus that arranges, at a second position of a second container, a work picked at a first position of a first container by using a picking hand, the second container being different from the above-described first container, the control device including: 
     a trajectory information generating unit for generating trajectory information prescribing a trajectory on which the above-described picking hand picks the above-described work at the above-described first position and arranges the work at the above-described second position; 
     an execution control unit for operating the above-described picking apparatus based on the trajectory information generated by the above-described trajectory information generating unit; and 
     an execution time estimating unit for estimating a period of time that is from the time when the above-described picking apparatus receives an instruction for starting an operation on the above-described work to the time when the operation of the above-described picking apparatus on the above-described work is ended, wherein 
     the above-described trajectory information generating unit adjusts an amount of calculation based on an estimation result of the above-described execution time estimating unit. 
     [Item 2-2] 
     The control device according to Item 2-1, wherein 
     after the above-described trajectory information generating unit performs process of generating trajectory information regarding a first work and before a movement of the above-described first work is completed, the above-described trajectory information generating unit performs the process of generating trajectory information regarding a second work being different from the above-described first work, 
     the above-described execution time estimating unit estimates, based on the trajectory information being generated by the above-described trajectory information generating unit and regarding the above-described first work, a first period of time that is from the time when the above-described picking apparatus receives an instruction for starting an operation on the above-described first work to the time when an operation of the above-described picking apparatus on the above-described first work is ended, and 
     before the above-described first period of time estimated by the above-described execution time estimating unit is expired or elapsed, the above-described trajectory information generating unit adjusts an amount of calculation of a process of generating trajectory information regarding the above-described second work such that a process of generating trajectory information regarding the above-described second work is completed. 
     [Item 2-3] 
     The control device according to Item 2-2, wherein 
     the above-described trajectory information generating unit generates the trajectory information regarding the above-described second work by using an operation result in the process of generating the trajectory information regarding the above-described first work. 
     [Item 2-4] 
     The control device according to any one of Items 2-1 to 2-3, wherein 
     the above-described trajectory information generating unit includes: 
     a first candidate information acquiring unit for acquiring first candidate information indicating each of one or more postures that picking hand takes on the above-described first position; 
     a second candidate information acquiring unit for acquiring second candidate information indicating each of one or more postures that the above-described picking hand takes on the above-described second position; 
     an extracting unit for extracting one combination from among one or more combinations regarding one or more postures indicated by the above-described first candidate information and one or more postures indicated by the above-described second candidate information; 
     a trajectory calculating unit for calculating a trajectory on which (i) the above-described picking hand picks, at the above-described first position, the above-described work with a posture associated with the above-described first position included in the above-described one combination and (ii) the above-described picking hand arranges, at the above-described second position, the above-described work with a posture associated with the above-described second position included in the above-described one combination; and 
     a determining unit for determining whether an interference is present or absent on the trajectory calculated by the above-described trajectory calculating unit. 
     [Item 2-5] 
     The control device according to Item 2-4, wherein 
     when the above-described determining unit determines that the interference occurs on the above-described trajectory, 
     the above-described extracting unit extracts another combination from among the above-described one or more combinations, 
     the above-described trajectory calculating unit calculates a trajectory on which (i) the above-described picking hand picks, at the above-described first position, the above-described work with a posture associated with the above-described first position included in the above-described other combination and (ii) above-described picking hand arranges, at the above-described second position, the above-described work with a posture associated with the above-described second position included in the above-described other combination, and 
     the above-described determining unit determines whether the interference is present or absent on the trajectory being calculated by the above-described trajectory calculating unit and being associated with the above-described other combination. 
     [Item 2-6] 
     The control device according to Item 2-4, wherein 
     when an amount or duration time of calculation in at least one of the above-described extracting unit, the above-described trajectory calculating unit and the above-described determining unit satisfies a predetermined condition, 
     the above-described extracting unit extracts another combination from among the above-described one or more combinations, 
     the above-described trajectory calculating unit calculates a trajectory on which (i) the above-described picking hand picks, at the above-described first position, the above-described work with a posture associated with the above-described first position included in the above-described other combination and (ii) the above-described picking hand arranges, at the above-described second position, the above-described work with a posture associated with the above-described second position included in the above-described other combination, and 
     the above-described determining unit determines whether the interference is present or absent on the trajectory being calculated by the above-described trajectory calculating unit and being associated with the above-described other combination. 
     [Item 2-7] 
     The control device according to any one of Items 2-4 to 2-6, further including a constraint condition setting unit for determining a constraint condition regarding an amount or duration time of calculation of processing in at least one of the above-described extracting unit, the above-described trajectory calculating unit and the above-described determining unit based on an estimation result of the above-described execution time estimating unit, wherein 
     the above-described at least one of the above-described extracting unit, the above-described trajectory calculating unit and the above-described determining unit adjusts an amount or duration time of calculation based on the constraint condition set by the above-described constraint condition setting unit. 
     [Item 2-8] 
     The control device according to Item 2-7, wherein 
     the above-described constraint condition is at least one of (i) the maximum value of the amount or duration time of calculation that is until a progress of the processing reaches a preset milestone and (ii) the maximum value of the amount or duration time of calculation that is until the processing is completed. 
     [Item 2-9] 
     The control device according to any one of Items 2-4 to 2-8, wherein 
     the above-described extracting unit calculates an evaluation function for at least some of the above-described one or more combinations, and 
     selects the above-described one combination based on the above-described evaluation function. 
     [Item 2-10] 
     The control device according to any one of Items 2-4 to 2-9, wherein 
     the above-described determining unit divides the trajectory calculated by the above-described trajectory calculating unit into a plurality of zones, and 
     determines whether an interference is present or absent for each zone. 
     [Item 2-11] 
     The control device according to any one of Items 2-4 to 2-10, wherein 
     the above-described trajectory information generating unit further has a trajectory determining unit for determining a trajectory of the above-described picking hand based on the determination result of the above-described determining unit. 
     [Item 2-12] 
     A picking system including 
     the control device according to any one of Items 2-1 to 2-11; and 
     the above-described picking apparatus. 
     [Item 2-13] 
     A distribution system including 
     the control device according to any one of Items 2-1 to 2-10; 
     the above-described picking apparatus; and 
     a conveying apparatus to convey the above-described work. 
     [Item 2-14] 
     A program to cause a computer to serve as the control device according to any one of Items 2-1 to 2-11. 
     [Item 2-15] 
     A control method for controlling a picking apparatus that arranges, at a second position of a second container, a work picked at a first position of a first container by using a picking hand, the second container being different from the above-described first container, the control method including: 
     a trajectory information generating step of generating trajectory information prescribing a trajectory on which the above-described picking hand picks the work at the above-described first position and arranges the work at the above-described second position; 
     an execution control step of operating the above-described picking apparatus based on the trajectory information generated in the above-described trajectory information generating step; and 
     an execution time estimating step of estimating a period of time that is from the time when the above-described picking apparatus receives an instruction for starting an operation on the above-described work in the above-described execution control step to the time when the operation of the above-described picking apparatus on the above-described work is ended, wherein 
     the above-described trajectory information generating step includes a step of adjusting the amount of calculation based on an estimation result in the above-described execution time estimating step. 
     [Item 2-16] 
     A production method of producing a second container in which a work is arranged by using a picking apparatus that arranges, at a second position of a second container, the above-described work picked at a first position of a first container by using a picking hand, the above-described second container being different from the above-described first container, the production method including: 
     a trajectory information generating step of generating trajectory information prescribing a trajectory on which the above-described picking hand picks the work at the above-described first position and arranges the work at the above-described second position; 
     an execution control step of operating the above-described picking apparatus based on trajectory information generated in the above-described trajectory information generating step; 
     an execution time estimating step of estimating a period of time that is from the time when the above-described picking apparatus receives an instruction for starting an operation on the above-described work in the above-described execution control step to the time when the operation of the above-described picking apparatus on the above-described work is ended, wherein 
     the above-described trajectory information generating step includes a step of adjusting an amount of calculation based on an estimation result in the above-described execution time estimating step. 
     [Item 3-1] 
     A control device for controlling a picking apparatus that arranges, at a second position of a second container, a work picked at a first position of a first container by using a picking hand, the second container being different from the above-described first container, the control device including: 
     a point cloud information acquiring unit for acquiring point cloud information of a region including at least one of the above-described picking hand and the above-described work at a time being at least one of (i) when the above-described picking hand picks the above-described work at the above-described first position, (ii) when the above-described picking hand moves the above-described work out of the above-described first container, (iii) when the above-described picking hand moves the above-described work in the above-described second container and (iv) when the above-described picking hand arranges the above-described work at the above-described second position; and 
     an abnormality detection unit for detecting an abnormality based on the point cloud information acquired by the above-described point cloud information acquiring unit. 
     [Item 3-2] 
     The control device according to Item 3-1, further including an image acquiring unit for acquiring image data of an image including at least one of the above-described picking hand and the above-described work in a field angle at the above-described at least one time, wherein 
     the above-described point cloud information acquiring unit acquires the above-described point cloud information based on the image acquired by the above-described image acquiring unit. 
     [Item 3-3] 
     The control device according to Item 3-1 or 3-2, wherein 
     the above-described point cloud information is three-dimensional point cloud information. 
     [Item 3-4] 
     The control device according to any one of Items 3-1 to 3-3, wherein 
     the above-described abnormality detection unit is for detecting an abnormality based on (i) the above-described point cloud information and (ii) at least one selected from a group including: a measurement value of a sensor arranged on the above-described picking apparatus; a control value for at least one of the above-described picking hand, and a robot arm coupled with the above-described picking hand; and at least one of torque, a voltage value and a current value for a driving unit that drives at least one of the above-described picking hand and the above-described robot arm. 
     [Item 3-5] 
     The control device according to any one of Items 3-1 to 3-4, further including an instruction sending unit for sending, to the above-described picking apparatus, an instruction for suspending an operation of the above-described picking apparatus when the above-described abnormality detection unit detects the abnormality. 
     [Item 3-6] 
     A picking system including 
     a control device according to any one of Items 3-1 to 3-5; and 
     the above-described picking apparatus. 
     [Item 3-7] 
     A distribution system including 
     the control device according to any one of Items 3-1 to 3-5; 
     the above-described picking apparatus; and 
     a conveying apparatus to convey the above-described work. 
     [Item 3-8] 
     A program for causing a computer to serve as the control device according to any one of Items 3-1 to 3-5. 
     [Item 3-9] 
     A control method for controlling a picking apparatus that arranges, at a second position of a second container, a work picked at a first position of a first container by using a picking hand, the second container being different from the above-described first container, the control method including: 
     a point cloud information acquiring procedure of acquiring point cloud information of a region including at least one of the above-described picking hand and the above-described work at a time being at least one of (i) when the above-described picking hand picks the above-described work at the above-described first position, (ii) when the above-described picking hand moves the above-described work out of the above-described first container, (iii) when the above-described picking hand moves the above-described work in the above-described second container and (iv) when the above-described picking hand arranges the above-described work at the above-described second position; and 
     an abnormality detection procedure of detecting an abnormality based on the point cloud information acquired in the above-described point cloud information acquiring procedure. 
     [Item 4-1] 
     A control device for controlling a picking apparatus that moves one or more works from one or more supply containers to one or more arrangement containers by using a picking hand, the control device including 
     a trajectory information generating unit for generating trajectory information prescribing a trajectory on which the above-described picking hand picks one of the above-described one or more works stored in one supply container included in the above-described one or more supply containers and arranges the work on one arrangement container included in the above-described one or more arrangement containers, wherein 
     after the process of generating trajectory information regarding a first work included in the above-described one or more work is performed and before the movement of the above-described first work is completed, 
     the above-described trajectory information generating unit generates trajectory information regarding a second work being different from the above-described first work and included in the above-described one or more work by using an operation result in the process for generating the trajectory information regarding the above-described first work. 
     [Item 4-2] 
     The control device according to Item 4-1, further including a container information acquiring unit for acquiring information regarding at least one of a state of a surface of the above-described one supply container and a state of a surface of the above-described one arrangement container, wherein 
     the above-described trajectory information generating unit (a) acquires or generates information regarding a position and a posture of the above-described first work in the above-described one supply container before the above-described picking apparatus moves the above-described first work in processing for generating the trajectory information regarding the above-described first work, and 
     (b) generates trajectory information regarding the above-described second work by using (i) the information acquired by the above-described container information acquiring unit before the movement of the above-described first work is completed and (ii) the information regarding the position and the posture of the above-described first work in the above-described one supply container in the process of generating the trajectory information regarding the above-described second work. 
     [Item 4-3] 
     The control device according to Item 4-1, further including a container information acquiring unit for acquiring information regarding a state of a surface of at least one of the above-described one supply container and the above-described one arrangement container, wherein 
     the above-described trajectory information generating unit (a) acquires or generates information regarding a position and a posture of the above-described first work in the above-described one arrangement container after the above-described picking apparatus moves the above-described first work in the process of generating the trajectory information regarding the above-described first work, and 
     (b) generates trajectory information regarding the above-described second work by using (i) information acquired by the above-described container information acquiring unit before the movement of the above-described first work is completed and (ii) information regarding a position and a posture of the above-described first work on the above-described one arrangement container in the process of generating the trajectory information regarding the above-described second work. 
     [Item 4-4] 
     The control device according to any one of Items 4-1 to 4-3, further including an order information acquiring unit for acquiring (i) first order information that instructs to move the above-described one or more works from at least one of the above-described one or more supply containers to a first arrangement container included in the above-described one or more arrangement containers and (ii) second order information that instruct to move the above-described one or more works from at least one of the above-described one or more supply containers to a second arrangement container being included in the above-described one or more arrangement containers and being different from the above-described first arrangement container, wherein the above-described trajectory information generating unit performs a process of generating trajectory information regarding the above-described first work in accordance with the acquisition of one of the above-described first order information and the above-described second order information by the above-described order information acquiring unit, and 
     performs the process of generating trajectory information regarding the above-described second work in accordance with the acquisition of the other of the above-described first order information and the above-described second order information by the above-described order information acquiring unit. 
     [Item 4-5] 
     The control device according to Item 4-4, wherein 
     the above-described first order information instructs to move the above-described first work from a first supply container included in the above-described one or more supply containers to the above-described first arrangement container, 
     the above-described second order information instructs to move the above-described second work from the above-described first supply container to the above-described second arrangement container, and 
     the above-described trajectory information generating unit performs the process of generating trajectory information regarding the above-described first work in accordance with the acquisition of the above-described first order information by the above-described order information acquiring unit, and 
     performs the process of generating the trajectory information regarding the above-described second work in accordance with the acquisition of the above-described second order information by the above-described order information acquiring unit. 
     [Item 4-6] 
     The control device according to any one of Items 4-1 to 4-3, further including an order information acquiring unit for acquiring (i) first order information that instructs to move the above-described one or more works from a first supply container included in the above-described one or more supply containers to at least one of the above-described one or more arrangement containers and (ii) second order information that instructs to move the above-described one or more works from a second supply container being included in the above-described one or more supply containers and being different from the above-described first supply container to at least one of the above-described one or more arrangement containers, wherein 
     the above-described trajectory information generating unit performs the process of generating trajectory information regarding the above-described first work in accordance with the acquisition of one of the above-described first order information and the above-described second order information by the above-described order information acquiring unit, and 
     performs the process of generating trajectory information regarding the above-described second work in accordance with the acquisition of the other of the above-described first order information and the above-described second order information by the above-described order information acquiring unit. 
     [Item 4-7] 
     The control device according to Item 4-6, wherein 
     the above-described first order information instructs to move the above-described first work from the above-described first supply container to a first arrangement container included in the above-described one or more supply containers, 
     the above-described second order information instructs to move the above-described second work from the above-described second supply container to the above-described first arrangement container, and 
     the above-described trajectory information generating unit performs the process of generating the trajectory information regarding the above-described first work in accordance with the acquisition of the above-described first order information by the above-described order information acquiring unit, and 
     performs the process of generating trajectory information regarding the above-described second work in accordance with the acquisition of the above-described second order information by the above-described order information acquiring unit. 
     [Item 4-8] 
     The control device according to any one of Items 4-1 to 4-3, further including an order information acquiring unit for acquiring (i) first order information that instructs to move the above-described first work from first supply container included in the above-described one or more supply containers to a first arrangement container included in the above-described one or more arrangement containers and (ii) second order information that instructs to move the above-described second work from a second supply container being included in the above-described one or more supply containers and being different from the above-described first supply container to a second arrangement container being included in the above-described one or more arrangement containers and being different from the above-described first arrangement container, and 
     the above-described trajectory information generating unit performs the process of generating trajectory information regarding the above-described first work in accordance with the acquisition of the above-described first order information by the above-described order information acquiring unit, and performs the process of generating the trajectory information regarding the above-described second work in accordance with the acquisition of the above-described second order information by the above-described order information acquiring unit. 
     [Item 4-9] 
     A picking system including 
     the control device according to any one of Items 4-1 to 4-8; and 
     the above-described picking apparatus. 
     [Item 4-10] 
     A distribution system including 
     the control device according to any one of Items 4-1 to 4-8; 
     the above-described picking apparatus; and 
     a conveying apparatus to convey the above-described one or more works. 
     [Item 4-11] 
     A program for causing a computer to serve as the control device according to any one of Items 4-1 to 4-8. 
     [Item 4-12] 
     A control method for controlling a picking apparatus that moves one or more works from one or more supply containers to one or more arrangement containers by using a picking hand, the control method including 
     a trajectory information generating step of generating trajectory information prescribing a trajectory on which the above-described picking hand picks one of the above-described one or more works stored in one supply container included in the above-described one or more supply containers and arranges the work on one arrangement container included in the above-described one or more arrangement containers, wherein 
     the above-described trajectory information generating step includes 
     a step of generating trajectory information regarding a second work being included in the above-described one or more works and being different from the above-described first work by using ab operation result in the process of generating the trajectory information regarding the above-described first work after performing the process of generating the trajectory information regarding a first work included in the above-described one or more works and before the movement of the above-described first work is completed. 
     [Item 4-13] 
     A production method of producing one or more arrangement containers in which one or more works are arranged by using a picking apparatus that moves, by using a picking hand, the above-described one or more works from one or more supply containers to the above-described one or more arrangement containers, the production method including 
     a trajectory information generating step of generating trajectory information prescribing a trajectory on which the above-described picking hand picks one of the above-described one or more works stored in one supply container included in the above-described one or more supply containers and arranges the work on one arrangement container included in the above-described one or more arrangement containers, wherein 
     the above-described trajectory information generating step includes 
     a step of generating trajectory information regarding a second work being included in the above-described one or more works and being different from the above-described first work by using an operation result in the process of generating the trajectory information regarding the above-described first work after performing the process of generating the trajectory information regarding a first work included in the above-described one or more works and before the movement of the above-described first work is completed. 
     [Item 5-1] 
     An information processing apparatus including: 
     a three-dimensional information acquiring unit for acquiring three-dimensional information of a target object; 
     a holding information acquiring unit for acquiring holding information that defines a method of holding the above-described target object by using a picking hand; and 
     an information management unit for storing, in a storage apparatus, (i) three-dimensional information of the above-described target object acquired by the above-described three-dimensional information acquiring unit and (ii) the holding information acquired by the above-described holding information acquiring unit in association with each other. 
     [Item 5-2] 
     The information processing apparatus according to Item 5-1, wherein 
     the three-dimensional information of the above-described target object includes at least one of home position information and coordinate axis information. 
     [Item 5-3] 
     The information processing apparatus according to Item 5-1 or 5-2, further including a two-dimensional information acquiring unit for acquiring two-dimensional information of the above-described target object, wherein 
     the above-described information management unit stores, in the above-described storage apparatus, (i) three-dimensional information of the above-described target object acquired by the above-described three-dimensional information acquiring unit, (ii) holding information acquired by the above-described holding information acquiring unit and (iii) two-dimensional information of the above-described target object acquired by the above-described two-dimensional information acquiring unit in association with each other. 
     [Item 5-4] 
     The information processing apparatus according to Item 5-3, further including a feature information acquiring unit for acquiring feature information for recognizing the above-described target object based on the two-dimensional information of the above-described target object acquired by the above-described two-dimensional information acquiring unit, wherein 
     the above-described information management unit stores, in the above-described storage apparatus, (i) three-dimensional information of the above-described target object acquired by the above-described three-dimensional information acquiring unit, (ii) holding information acquired by the above-described holding information acquiring unit, (iii) two-dimensional information of the above-described target object acquired by the above-described two-dimensional information acquiring unit and (iv) feature information of the above-described target object acquired by the above-described feature information acquiring unit in association with each other. 
     [Item 5-5] 
     The information processing apparatus according to Item 5-1 or 5-2, further including: 
     a two-dimensional information acquiring unit for acquiring two-dimensional information of the above-described target object; and 
     a feature information acquiring unit for acquiring feature information for recognizing the above-described target object based on two-dimensional information of the above-described target object acquired by the above-described two-dimensional information acquiring unit, wherein 
     the above-described information management unit stores, in the above-described storage apparatus, (i) three-dimensional information of the above-described target object acquired by the above-described three-dimensional information acquiring unit, (ii) holding information acquired by the above-described holding information acquiring unit and (iii) feature information of the above-described target object acquired by the above-described feature information acquiring unit in association with each other. 
     [Item 5-6] 
     The information processing apparatus according to any one of Items 5-3 to 5-5, wherein 
     the above-described two-dimensional information is image data of three or more images of the above-described target object captured from three or more directions. 
     [Item 5-7] 
     The information processing apparatus according to any one of Items 5-1 to 5-6, further including the above-described storage apparatus. 
     [Item 5-8] 
     The information processing apparatus according to any one of Items 5-1 to 5-7, wherein 
     the above-described information management unit stores, in a storage apparatus, (i) three-dimensional information of the above-described target object acquired by the above-described three-dimensional information acquiring unit, (ii) holding information acquired by the above-described holding information acquiring unit and (iii) identification information for identifying the above-described target object in association with each other. 
     [Item 5-9] 
     The information processing apparatus according to Item 5-8, further including: 
     a picking control unit for controlling a picking apparatus that arranges, at a second position, a work picked at a first position by using a picking hand, the second position being different from the above-described first position; 
     an order information acquiring unit for acquiring order information including identification information of at least one work that is to be a working target of the picking apparatus; 
     a holding information storing unit for storing identification information of one or more works and holding information of the above-described one or more works in association with each other; and 
     a holding information extracting unit for (i) accessing to the above-described storage apparatus and extract, from identification information of the above-described at least one work included in order information acquired by the above-described order information acquiring unit, the above-described holding information associated with identification information of the above-described target object matched with identification information that is not stored in the above-described holding information storing unit, and (ii) associating the identification information that is not stored in the above-described holding information storing unit with the above-described extracted holding information and store the information in the above-described holding information storing unit, wherein 
     the above-described holding information storing unit is realized by a medium being different from the above-described storage apparatus. 
     [Item 5-10] 
     The information processing apparatus according to Item 5-9, further including: 
     a first candidate information generating unit for generating first candidate information indicating each of one or more postures that the above-described picking hand takes on the above-described first position with reference to the holding information stored in the above-described holding information storing unit; 
     a second candidate information generating unit for generating second candidate information indicating each of one or more postures that the above-described picking hand takes on the above-described second position with reference to the holding information stored in the above-described holding information storing unit; 
     an extracting unit for extracting one combination from among one or more combinations regarding one or more postures indicated by the above-described first candidate information and one or more postures indicated by the above-described second candidate information; 
     a trajectory calculating unit for calculating a trajectory on which (i) the above-described picking hand picks, at the above-described first position, the above-described work with a posture associated with the above-described first position included in the above-described one combination and (ii) the above-described picking hand arranges, at the above-described second position, the above-described work with a posture associated with the above-described second position included in the above-described one combination; and 
     a determining unit for determining whether an interference is present or absent on the trajectory calculated by the above-described trajectory calculating unit. 
     [Item 5-11] 
     A picking system including 
     the information processing apparatus according to Item 5-9 or 5-10; and 
     the above-described picking apparatus. 
     [Item 5-12] 
     A distribution system including 
     the information processing apparatus according to Item 5-9 or 5-10; 
     the above-described picking apparatus; and 
     a conveying apparatus to convey the above-described work. 
     [Item 5-13] 
     A program for causing a computer to serve as the information processing apparatus according to any one of Item 5-1 to 5-10. 
     [Item 5-14] 
     An information processing method including: 
     a three-dimensional information acquiring step of acquiring, by a computer, three-dimensional information of a target object; 
     a holding information acquiring step of acquiring holding information that defines a method of holding, by a computer, the above-described target object by using a picking hand; and 
     an information management step of storing, in a storage apparatus by a computer, (i) three-dimensional information of the above-described target object acquired by the above-described three-dimensional information acquiring unit and (ii) holding information acquired by the above-described holding information acquiring unit in association with each other. 
     REFERENCE SIGNS LIST 
       10  . . . work;  12  . . . supply pallet;  14  . . . delivery pallet;  100  . . . distribution management system;  110  . . . article management apparatus;  120  . . . data registration apparatus;  130  . . . transfer apparatus;  140  . . . robot;  152  . . . image capturing apparatus;  154  . . . image capturing apparatus;  160  . . . transfer control apparatus;  170  . . . conveying apparatus;  172  . . . conveyor;  174  . . . conveyor;  210  . . . order information acquiring unit;  220  . . . conveying apparatus management unit;  230  . . . transfer apparatus management unit;  240  . . . request processing unit;  250  . . . article information storing unit;  312  . . . three-dimensional information acquiring unit;  314  . . . two-dimensional information acquiring unit;  316  . . . mass information acquiring unit;  320  . . . article information registration unit;  330  . . . input/output unit;  340  . . . registration information generating unit;  342  . . . coordinate information adding unit;  344  . . . holding information adding unit;  346  . . . specification information adding unit;  350  . . . registration request sending unit;  410  . . . manipulator;  412  . . . picking hand;  414  . . . robot arm;  420  . . . driving unit;  430  . . . drive control unit;  510  . . . recognition information storing unit;  520  . . . recognition unit;  530  . . . planning unit;  540  . . . execution unit;  550  . . . concurrent processing control unit;  610  . . . position and posture information generating unit;  620  . . . point cloud information generating unit;  710  . . . holding planning unit;  720  . . . arrangement planning unit;  730  . . . evaluation information storing unit;  740  . . . trajectory candidate extracting unit;  750  . . . trajectory planning unit;  760  control information generating unit;  810  . . . control information sending unit;  820  . . . execution monitoring unit;  1400  . . . data table;  1410  . . . work ID;  1420  . . . order ID;  1430  . . . contents;  1432  . . . article ID;  1434  . . . supply pallet ID;  1436  . . . delivery pallet ID.