Abstract: In order to determine, without a trial, whether or not an article can be transferred and in order to reset the article in a case where the article cannot be transferred, provided is a transfer system including: a first determining section that determines whether or not a transferring section can hold and transfer an article, on the basis of a posture of the article an image of which has been captured by a camera section; and an adjusting section that, in a case where the first determining section determines that the transferring section cannot transfer the article, controls a driving section and a holding direction changing section so that the posture and a position of the article are adjusted to a posture and a position that allow the transferring section to transfer the article.

Abstract: A first container includes a pair of first held sections serving as a pair of held sections, and a second container includes a pair of second held sections serving as a pair of held sections. A first distance between the two first held sections is smaller than a second distance between the two second held sections. A first detector is configured to detect a detection target section in the first held sections and not detect the detection target section in the second held sections while a holder device is disposed at a holding reference position. A second detector is configured to detect a detection target section in the second held sections and not detect the detection target section in the first held sections while the holder device is disposed at the holding reference position.

Abstract: A lifting device includes: a lifting mechanism configured to move up and down a placement portion on which a conveyed object is placed; a distance sensor configured to output a detection signal indicating a distance to a surface to be detected of a moving object in a state of being located above the surface; a support member configured to support the distance sensor; a movement mechanism configured to move at least a part of the support member between a measurement position where the distance sensor is located and a retraction position where the distance sensor and the support member are deviated from above the moving object; and a lifting controller configured to control the lifting mechanism such that the placement portion is aligned with the moving object at a position where the conveyed object is allowed to be transferred in a lateral direction based on the detection signal.

Abstract: In an article transfer facility, a drive portion includes a first Z-axis drive portion configured to move a holding portion in a Z direction, a first X-axis drive portion configured to move the holding portion in an X direction, a first Y-axis drive portion configured to move the holding portion in a Y direction, and a second X-axis drive portion configured to move a placement portion in the X direction. A control portion executes first control in which an article at a first position is placed on the placement portion, and second control in which the article placed on the placement portion is arranged at a second position. In the first control, the drive portion is controlled such that the holding portion picks up the article at the first position and moves to a position on an upper side of the placement portion, and thereafter releases the article to place the article on the placement portion.

Abstract: In a case of changing the traveling speed of a transport vehicle, in order for the traveling speed of the transport vehicle to reach a target speed at a target position that is on a downstream side in the travel path relative to the current position of the transport vehicle, a control unit generates reference speed commands in accordance with a traveling speed time change pattern according to which the travel acceleration changes in a stepwise manner, generates a moving average command obtained using the moving average of the reference speed commands in a set period, and controls travel operations of a travel unit based on the moving average command.

Abstract: Provided is a technique to make it easy to carry out alignment in connecting a plurality of shelf units. An assembly shelf is configured by stacking a second shelf unit on a first shelf unit. An upper surface of at least one first horizontal frame member which is disposed in an upper part of the first shelf unit and a lower surface of at least one second horizontal frame member which is disposed in a lower part of the second shelf unit are respectively provided with engagement structures that engage with each other.

Abstract: Provided is a ceiling traveling vehicle that travels on a track including a pair of travel rails and including an upper guide rail in a branching portion, the traveling vehicle including: a body portion; a pair of travel wheels each configured to roll on a corresponding one of the travel rails; an upper guide roller configured to roll in contact with the upper guide rail; and a cam configured to adjust a position of the upper guide roller in a right-and-left direction in the body portion, depending on the branching portion.

Abstract: A controller outputs, to a transport vehicle, a forward movement command for moving in the forward direction along a transport path toward a destination, and a reverse movement command for moving in a reverse direction along the transport path toward the destination. When a target task occurs, the controller determines a transport vehicle to execute the target task among a plurality of transport vehicles, while also including, as a candidate, a transport vehicle located on a downstream side of the transport path relative to the destination at a timing when the target task occurs.

Abstract: A cleaning system includes: a cleaning vehicle 1 that travels along a predetermined travel path R to clean the travel path; and a maintenance facility 2 provided at a maintenance stop position A set on the travel path R, wherein the cleaning vehicle 1 includes a suction portion 14 that sucks up dust on the travel path R, a storage portion that stores the sucked up dust, and a discharge portion 16 that discharges the dust stored in the storage portion to the outside, and the maintenance facility 2 includes a dust collection portion 214 that collects the dust discharged to the outside from the storage portion via the discharge portion 16 of the cleaning vehicle 1 stopped at the maintenance stop position A.

Abstract: Work for installation of a feed line is efficiently conducted. An installation tool installs a feed line in a feed line holder, the feed line holder accompanying any of rails for allowing a carrier to travel thereon and holding the feed line, the feed line feeding electric power to the carrier in a non-contact manner. The installation tool includes: a main body part configured to be capable of moving along the rails; and a pressing part configured to move together with the main body part along the rails and continuously press the feed line into a holding part of the feed line holder as the main body part is moved, the holding part being partially open.

Abstract: Correcting a deviation of the transfer position of an article is made possible. A control section includes: a position information acquiring section for acquiring, from an image taken by an image taking section, position information and a deviation of an identification code from a reference position; and an action control section for controlling the action of a transport device so as to correct the deviation of the transfer position of the article in accordance with the position information and the deviation of the identification code from the reference position.

Abstract: A raising/lowering conveyance device for a container for conveying an article has container supports that can move toward or away from a container in the horizontal direction and up and down with respect to the container. The container supports have a plurality of container support pins that can advance/retreat in the horizontal direction from the container and that are forcibly held at a position protruding from a front surface of the container support. The container supports are configured to lift the container by the container support pins which protrude under a downward step surface formed on the outside of the container. A pin main body of the container support pins protrudes from the front surface and has a flat tip perpendicular to the center axis of the pin main body, and has a tapered shape that increases in diameter toward the flat tip and is thicker toward the end.

Abstract: An unloader includes a suction device including a suction portion, a mover, a controller, and an article detector. The controller moves the suction portion relative to a mount in a first predetermined direction to switch from a state in which a vertical relative distance is greater than a greater one of an article height or a predetermined distance and is less than a total length of the article height and the predetermined distance and in which a detection line is located in a second predetermined direction from a target article group to a state in which the detection line is located in the first predetermined direction from the target article group, and prohibits an operation to move the suction portion in a vertical direction toward the target article group when the article detector detects an article.

Abstract: An article transport vehicle (3) includes: a travel unit (11) that travels to a set position (P1) that has been set so as to correspond to each of a plurality of storage units (1) configured to store an article (W); a support portion (12) configured to support the article (W); a lighting unit (13) that emits light; and a control unit that controls the travel unit (11) and the lighting unit (13). The control unit executes a travel control that controls the travel unit (11) such that the travel unit (11) travels to the set position (P1) that has been set so as to correspond to a target storage unit (1A), and a lighting control that controls the lighting unit (13) so as to emit light to a lighting position (P2) that corresponds to the target storage unit (1A).

Abstract: An article accommodation facility includes: an article container that contains one or more types of articles; a container accommodation member that has an accommodation compartment capable of accommodating the article container on a plurality of levels in a vertical direction; an accommodation member transport apparatus that transports the container accommodation member between a storage portion and a pick-up position; a container pick-up apparatus that takes out the article container from the container accommodation member at the pick-up position; and a container transport apparatus that transports the article container taken out from the container accommodation member by the container pick-up apparatus to a picking section.

Abstract: A conveying apparatus is capable of conveying an object supported by a support along a vertical direction in a non-restricted area and a restricted area narrower than the non-restricted area. The conveying apparatus has a first detection device, a second detection device and a controller. The first detection device detects whether a runout of the conveyed object supported by the support from a normal position is within or outside the non-restricted area. The second detection device detects whether the runout from the normal position of the object supported by the support is within or outside the restricted area. The controller controls the conveyance operation of the object to be conveyed by the support based on the detection results of the first detection device and the second detection device.

Abstract: A control system includes: a sway detection unit configured to detect a reference swaying amount that is a swaying amount of a mast at a detection height, which is set to be greater than or equal to a height of a lowermost part of a transfer apparatus when a lift is located at an upper limit of a lifting range; a lifting height acquiring unit configured to acquire lifting height information that indicates a lifting height, which is a height of the lift, at a plurality of points in time; and a transfer control unit configured to control the transfer apparatus. The transfer control unit converts the reference swaying amount detected by the sway detection unit into a lifting height swaying amount that is a swaying amount of the mast at the lifting height indicated by the lifting height information.

Abstract: Article transport vehicles have, as operation states, a first state of traveling toward a transport destination that is a destination set for receiving an article or delivering an article, and a second state in which a transport destination has not been set. A controller divides the entirety of a travelable route into a plurality of set areas and executes imbalance reduction control to arrange standby transport vehicles such that imbalance of the densities of standby transport vehicles present in the areas is within a predetermined range, the standby transport vehicles being article transport vehicles in the second state.

Abstract: An unmanned aerial vehicle station includes a takeoff-landing unit for an unmanned aerial vehicle to take off and land, a parcel receiver, a parcel deliverer, a storage that stores a plurality of parcels, a replenishment hangar that houses a plurality of unmanned aerial vehicles and replenishes the housed plurality of unmanned aerial vehicles with energy, a parcel transporter that transports the plurality of parcels between the parcel receiver and the storage and between the parcel deliverer and the storage, and an aircraft transporter that transports the plurality of unmanned aerial vehicles between the takeoff-landing unit and the replenishment hangar.

Abstract: A reference cost and a variable cost are included in a link cost for setting a set route for causing a setting vehicle to travel to a destination on a travelable route. A controller obtains an adjusted variable cost by adjusting a variable cost using a priority adjustment value set higher as a priority for arriving more quickly at a destination decreases, determines a link cost for each link in a candidate route, which is a candidate for a set route for a setting vehicle, based on the adjusted variable cost and the reference cost, obtains a route cost for each candidate route based on the link costs, and sets the set route based on the route costs of the candidate routes.