Abstract: A picking system has a plurality of transport modules having a transport means for transporting goods and includes a plurality of transport lines comprising at least one of the transport modules. The transport lines include a first transport line for transporting goods along a transport route, a second transport line for temporarily storing the goods, and a third transport line for transporting shipping containers of the goods along the transport route. A transport module for picks takes out the goods transported from the first transport line. The transport module for picks can perform a first operation for accommodating the goods transported from the first transport line in the shipping containers, a second operation for placing the goods transported from the first transport line onto the second transport line, and a third operation for taking out the goods from the second transport line and accommodating the goods in the shipping containers.

Abstract: A robot system has a manipulator that conveys a conveying object to a conveyance destination having a bottom surface and a wall surface connected to the bottom surface. The system includes: a first process in which the manipulator puts a first conveying object on the bottom surface of the conveyance destination; a second process in which the manipulator conveys a second conveying object to a position that does not come into contact with the first conveying object on the bottom surface of the conveyance destination; and a third process in which the manipulator moves the second conveying object in the direction of the first conveying object from the position that does not come into contact with the first conveying object, and moves the first conveying object by further moving the second conveying object after coming into contact with the first conveying object.

Abstract: A technology capable of dealing with a variation in appropriate recognition parameters due to a change in work environment at a work site at a time of recognizing an article in an image. An article recognition system includes: an input section to which a captured image is input; an output section that presents information to a user; a storage section that stores master data defining features of an object to be recognized; a recognition section that detects the object to be recognized in the image; and a recognition evaluation section that evaluates a recognition content of the recognition section and that presents an alert to the output section on the basis of an evaluation result.

Abstract: An object information registration apparatus that registers information of a first object that is a reference object of object recognition holds a first object image that is an image of the first object and recognition method information related to the first object, selects one or more partial regions included in the first object image, sets a recognition method corresponding to each of the one or more partial regions, acquires feature information of each of the one or more partial regions from the first object image based on the set recognition method, and stores the one or more partial regions, the set recognition method, and the acquired feature information in the recognition method information in association with each other.

Abstract: An object information registration apparatus that registers information of a first object that is a reference object of object recognition holds a first object image that is an image of the first object and recognition method information related to the first object, selects one or more partial regions included in the first object image, sets a recognition method corresponding to each of the one or more partial regions, acquires feature information of each of the one or more partial regions from the first object image based on the set recognition method, and stores the one or more partial regions, the set recognition method, and the acquired feature information in the recognition method information in association with each other.

Abstract: A technology capable of dealing with a variation in appropriate recognition parameters due to a change in work environment at a work site at a time of recognizing an article in an image. An article recognition system includes: an input section to which a captured image is input; an output section that presents information to a user; a storage section that stores master data defining features of an object to be recognized; a recognition section that detects the object to be recognized in the image; and a recognition evaluation section that evaluates a recognition content of the recognition section and that presents an alert to the output section on the basis of an evaluation result.

Abstract: A carrier system including a plurality of carriers and a control unit, in which each carrier included in the plurality of carriers includes a sensor that detects an object, the control unit stores carrier information indicating a position of a first carrier of the plurality of carriers and transmits an instruction to check existence of a second carrier to the first carrier when identification information and a position of the second carrier of the plurality of carriers are input, the first carrier having received the instruction to check existence performs measurement by the sensor and transmits a result of the performed measurement to the control unit, and the control unit determines whether the input position of the second carrier is correct based on the result of measurement by the sensor received from the first carrier.

Abstract: A robot system has a manipulator that conveys a conveying object to a conveyance destination having a bottom surface and a wall surface connected to the bottom surface. The system includes: a first process in which the manipulator puts a first conveying object on the bottom surface of the conveyance destination; a second process in which the manipulator conveys a second conveying object to a position that does not come into contact with the first conveying object on the bottom surface of the conveyance destination; and a third process in which the manipulator moves the second conveying object in the direction of the first conveying object from the position that does not come into contact with the first conveying object, and moves the first conveying object by further moving the second conveying object after coming into contact with the first conveying object.

Abstract: A shelf transport system comprising a shelf transport vehicle transporting a shelf having shelf legs, the shelf transport vehicle comprising: a distance sensor measuring a distance to an obstacle; a shelf leg candidate detection module detecting shelf leg candidates, which are candidates for the shelf legs; a shelf arrangement candidate calculation module calculating shelf arrangement candidates, in each of which the shelf is virtually arranged on the shelf leg candidates; an excess/deficiency calculation module calculating, for each of the shelf arrangement candidates, the excessive and the deficient number of shelf leg candidates; a shelf arrangement determination module determining a shelf arrangement from among the shelf arrangement candidates based on the excessive and the deficient number of shelf leg candidates; and a movement destination determination module determining a shelf to which the shelf transport vehicle is to be moved based on the shelf arrangement.

Abstract: A shelf transport system comprising a shelf transport vehicle transporting a shelf having shelf legs, the shelf transport vehicle comprising: a distance sensor measuring a distance to an obstacle; a shelf leg candidate detection module detecting shelf leg candidates, which are candidates for the shelf legs; a shelf arrangement candidate calculation module calculating shelf arrangement candidates, in each of which the shelf is virtually arranged on the shelf leg candidates; an excess/deficiency calculation module calculating, for each of the shelf arrangement candidates, the excessive and the deficient number of shelf leg candidates; a shelf arrangement determination module determining a shelf arrangement from among the shelf arrangement candidates based on the excessive and the deficient number of shelf leg candidates; and a movement destination determination module determining a shelf to which the shelf transport vehicle is to be moved based on the shelf arrangement.

Abstract: A system recognizes an arrangement of an object and counts the number of objects, comprising: a sensor for measuring a distance between the sensor and an object; a moving mechanism for moving the sensor; and a computer that is connected with the sensor and includes an object information database, an object arrangement database; a sensor data integrating section; and the sensor an object comparison calculator adapted to create an object model based on the data.

Abstract: An information collection system is provided, which can automatically calculate an operation or a travel path of a tag reader for collecting information of an RF tag. The information collection system of the present invention moves, in a movable area of a two-dimensional map, the tag reader along a surface of an object by referring to a three-dimensional map to emit radio waves while moving an information collection robot, records, upon reception of tag ID from the RF tag, a position of the information collection robot at the time as a data acquisition position, and calculates a path passing through data acquisition positions of all the recorded data as a moving sequence in a movable area of the information collection robot.

Abstract: A system recognizes an arrangement of an object and counts the number of objects, comprising: a sensor for measuring a distance between the sensor and an object; a moving mechanism for moving the sensor; and a computer that is connected with the sensor and includes an object information database, an object arrangement database; a sensor data integrating section; and the sensor an object comparison calculator adapted to create an object model based on the data.

Abstract: An information collection system is provided, which can automatically calculate an operation or a travel path of a tag reader for collecting information of an RF tag.

Abstract: A computer includes a photographing unit for photographing every time a turn table is rotated and acquiring images of the photographing target from a plurality of photographing devices; a coordinate-system setting unit for setting a coordinate system; position of an extracted feature point of the photographing target being defined as reference of the coordinate system; a viewpoint-parameter calculation unit for calculating viewpoint parameters on the basis of the coordinate system set by the coordinate-system setting unit and camera parameters such as focal lengths of the photographing devices, the viewpoint parameters including position data of the photographing devices and direction data of the photographing devices are oriented; and a correspondence-data storage unit for storing the images and the viewpoint parameters being made correlated with each other, the images being acquired by the photographing unit, the viewpoint parameters being calculated by the viewpoint-parameter calculation unit.

Abstract: A computer in a transport system includes: a shooting part for shooting a first calibration tray by controlling a camera; a tray position computing part for computing a tray position of the first calibration tray within a captured image which the shooting part shot; a hand position acquisition part for acquiring a hand position indicative of a position of the hand robot of when the hand robot installs onto the first calibration tray a first transported article used for calibration; a calibration part for computing a calibration data based on the tray position and the hand position; and a transported article installing part which, when the mobile robot reached a predetermined arrival area, controls, based on the calibration data, the hand robot so as to install a second transported article onto a second tray, the second tray which the mobile robot being provided with.

Abstract: A computer in a transport system includes: a shooting part for shooting a first calibration tray by controlling a camera; a tray position computing part for computing a tray position of the first calibration tray within a captured image which the shooting part shot; a hand position acquisition part for acquiring a hand position indicative of a position of the hand robot of when the hand robot installs onto the first calibration tray a first transported article used for calibration; a calibration part for computing a calibration data based on the tray position and the hand position; and a transported article installing part which, when the mobile robot reached a predetermined arrival area, controls, based on the calibration data, the hand robot so as to install a second transported article onto a second tray, the second tray which the mobile robot being provided with.

Abstract: In the monitoring system that used fixed camera and movement camera, the technique is provided in which facilitates the route making and the movement control of the mobile robot in the remote place. The mobile image-taking device and a monitoring device are connected to each other via a communication network. The monitoring device stores map on the place to be monitored, and outputs the map to a display. Moreover, the monitoring system receives the taking image from a fixed camera, and outputs the image to a display. If abnormality is detected from the taking image of a fixed camera, the movement camera is moved to the abnormality occurrence position. The monitoring device transmits a route of the mobile monitoring device, which is inputted from an input device, to the mobile monitoring device. The mobile monitoring device moves in the place to be monitored according to the received route.

Abstract: To realize high speed simulation a simulation apparatus is provided with a graphics board including a depth buffer that stores a depth value of each polygon represented by three dimensional polygon data. In the graphics board, the depth value of each polygon is calculated on the basis of a camera parameter and the three dimensional polygon data, and the depth value within the depth buffer is sequentially updated with the calculated depth value. According to the depth value, sensor data is generated and outputted.

Abstract: A computer includes a photographing unit for photographing every time a turn table is rotated and acquiring images of the photographing target from a plurality of photographing devices; a coordinate-system setting unit for setting a coordinate system; position of an extracted feature point of the photographing target being defined as reference of the coordinate system; a viewpoint-parameter calculation unit for calculating viewpoint parameters on the basis of the coordinate system set by the coordinate-system setting unit and camera parameters such as focal lengths of the photographing devices, the viewpoint parameters including position data of the photographing devices and direction data of the photographing devices are oriented; and a correspondence-data storage unit for storing the images and the viewpoint parameters being made correlated with each other, the images being acquired by the photographing unit, the viewpoint parameters being calculated by the viewpoint-parameter calculation unit.