Abstract: A self-location estimation apparatus and a self-location estimation method which can more accurately estimate a self-location are provided. A self-location estimation apparatus according to an embodiment is installable at a cart which is movable on the basis of an environment map. The self-location estimation apparatus according to the embodiment includes a distance sensor device configured to measure a distance thereof from an object, an angle sensor device configured to measure a measurement range of the distance sensor device, which fluctuates due to rocking along with movement of the cart, and an estimation device configured to estimate a self-location on the basis of a position of a mark installed at the environment and which is identified using the environment map, the distance, intensity of reflected light, and the measurement range.

Abstract: According to one embodiment, a transporter includes a conveyor, a restrainer, and a restrainer moving unit. The conveyor conveys an object in a first direction. The conveyor is movable in a second direction. The restrainer is disposed corresponding to a downstream end of the conveyor in the first direction. The restrainer moving unit keeps, in a case where a position of the conveyor relative to an object-transporting destination is out of a preset range, the restrainer at a restraining position at which the restrainer restrains a movement of the object. The restrainer moving unit starts to move, in a case where the position of the conveyor relative to the object-transporting destination is in the preset range, the restrainer toward a releasing position at which the restrainer allows the movement of the object.

Abstract: According to one embodiment, a conveying device includes a controller that is configured to determine a moving direction of a holder holding a first object based on a state of overlapping between the first object and a second object viewed in a conveying direction of the first object in a case where the second object is positioned in the conveying direction of the first object with respect to the first object.

Abstract: A transporter includes: a first conveyor to receive an object, the first conveyor to convey the object in a first direction; and a second conveyor to receive the object from the first conveyor and to convey the object, the second conveyor being movable in position in a second direction that crosses the first direction, the second direction being a substantially vertical direction.

Abstract: According to one embodiment, a transporter includes a conveyor, a restrainer, and a restrainer moving unit. The conveyor conveys an object in a first direction. The conveyor is movable in a second direction. The restrainer is disposed corresponding to a downstream end of the conveyor in the first direction. The restrainer moving unit keeps, in a case where a position of the conveyor relative to an object-transporting destination is out of a preset range, the restrainer at a restraining position at which the restrainer restrains a movement of the object. The restrainer moving unit starts to move, in a case where the position of the conveyor relative to the object-transporting destination is in the preset range, the restrainer toward a releasing position at which the restrainer allows the movement of the object.

Abstract: According to one embodiment, a picking apparatus includes a carriage, a holding mechanism, and a movement mechanism. The holding mechanism includes an arm, a rotating shaft provided at one end of the arm and rotating the arm, and a holding part provided at the other end of the arm and able to hold at least one object. The movement mechanism is provided on the carriage, and includes a first movement part that moves the rotating shaft along a first direction toward the object, and a second movement part that moves the first movement part along a second direction intersecting with the first direction and approximately perpendicular to the carriage. The first movement part is positioned along a direction away from the object with respect to the second movement part.

Abstract: According to one embodiment, a transporter includes a first conveyor and a second conveyor. The first conveyor receives an object that is carried by an arm device and conveys the object in a first direction. The second conveyor is configured to receive and convey the object from the first conveyor and is movable in a second direction that crosses the first direction.

Abstract: According to one embodiment, an object holding apparatus includes a holding part, a recognition device, and a controller. The holding part is able to hold at least one object. The recognition device recognizes a plurality of objects to generate a recognition result. The controller selects a first object from the objects, based on the recognition result. The controller sets a first direction to one side of the first object along which the number of objects aligned with the first object is smaller than the number of objects aligned with the first object along the other side of the first object. The controller selects a second object aligned with the first object along the first direction. The controller controls a driving of the holding part, based on a selection result of the first object and the second object.

Abstract: An article handling device includes: a gripper that grips an article; a driver that moves the gripper; an article recognition unit that recognizes a state of the article; a gripping recognition unit that recognizes a gripping state of the gripper; a determination unit that determines whether the gripping state is stable or unstable based on a recognition result of the gripping recognition unit; and a controller that controls a first gripping operation in which the gripper grips the article by a gripping position determined based on the recognition result of the article recognition unit, and, when the gripping state is determined as unstable, controls a second gripping operation in which the gripping position is changed and the gripper re-grips the article.

Abstract: An article holding system according to an embodiment is an article holding system which is provided with a fixed portion, a movable portion, a hollow member located between the fixed portion and the movable portion, a drawing portion to draw in the hollow member, and a fluid control device to supply fluid to an inside of the hollow member, wherein the hollow member deforms in a state that the fluid is supplied by the fluid control device, and the hollow member is drawn out from the drawing portion, to change a distance between the fixed portion and the movable portion.

Abstract: A transporter of an embodiment has a transporter, a detector, and a controller. The transporter holds a selected object from among a plurality of objects and transports the selected object to a first direction in a first state, and then configured to transport the selected object, while holding the selected object, to a second direction different from the first direction and not anti-parallel to the first direction, in a second state. The detector detects a change from the first state to the second state, wherein, in the second state, the transporter can transport the selected object to the second direction without disturbance by the presence of any other object than the selected object. The controller stops transporting the selected object to the first direction, in case that the detector detected the change from the first state to the second state.

Abstract: According to one embodiment, a transporter includes a first conveyor and a second conveyor. The first conveyor receives an object that is carried by an arm device and conveys the object in a first direction. The second conveyor is configured to receive and convey the object from the first conveyor and is movable in a second direction that crosses the first direction.

Abstract: According to one embodiment, a transporter includes a holder, a joint, an actuator, and a controller. The holder is configured to hold an object. The joint is configured to support the holder and to allow a change in posture of the holder. The actuator is configured to output a force suppressing a movement of the joint. The controller is configured to change stiffness of the joint by controlling an amount of the force.

Abstract: According to one embodiment, a transfer apparatus includes a base, a first linear motion member, a second linear motion member, a moving conveyor, an extraction arm, and a holding part. The first linear motion member is supported by the base and is movable in a first direction. The second linear motion member is supported by the first liner motion member and is movable in a second direction crossing the first direction. The moving conveyor is supported by the second linear motion member and includes a belt for conveying an article. The extraction arm is provided on a side of the moving conveyor, extracts the article and places the article on the belt. The holding part is provided at an end of the extraction arm and holds the article.

Abstract: According to one embodiment, an vacuum device 10 includes a suction pad 2 vacuumed on a to-be-vacuumed surface of a vacuum target, and a bellows tube 4 having the suction pad 2 at one end in a telescopic direction and having an internal space that is expanded and contracted by pressure of air, the telescopic member being elongated and contracted by expansion and contraction of the internal space.

Abstract: According to an embodiment, an object detection apparatus includes an imaging unit, an extraction unit, an estimation unit, and a detection unit. The imaging unit acquires an image of a plurality of polyhedrons which are loaded, each of the polyhedrons having a marker on a surface, each of marker including a first straight line portion and a second straight line portion. The extraction unit that extracts a plurality of markers included in the image. The estimation unit estimates a region included in the surface by using the first straight line portion and the second straight line portion of the extracted markers. The detection unit detects a region having all corners provided with the markers as a surface of a desired polyhedron.

Abstract: According to one embodiment, an article handling apparatus includes a gripper, a supporting portion, a sensor, and controller. The gripper grips an article. The supporting portion supports an article from below. The sensor recognizes a plurality of articles to generate a recognition result. The controller calculates a position of a first article located highest among the plurality of articles based on the recognition result, calculates a position of a second article located second highest in a region determined based on the position of the first article, controls movement of the gripper based on the position of the first article, and controls the movement of the supporting portion based on the position of the second article.

Abstract: According to one embodiment, an article handling device includes the following elements. The gripper grips an article. The driver moves the gripper. The article recognition unit recognizes a state of the article. The gripping recognition unit recognizes a gripping state of the gripper. The determination unit determines whether the gripping state is stable or unstable based on a recognition result of the gripping recognition unit. The controller controls a first gripping operation where the gripper grips the article by a gripping position determined based on the recognition result of the article recognition unit, and, when the gripping state is determined as unstable, controls a second gripping operation where the gripping position is changed and the gripper re-grips the article.

Abstract: According to an embodiment, a transfer apparatus includes a gripper, a first driving mechanism, an elastic passive joint part, a conveyor, a second driving mechanism, and base. The gripper grips an article. The first driving mechanism linearly moves the gripper in at least two directions including a first direction and a second direction intersecting with the first direction. The elastic passive joint part is interposed between the gripper and the first driving mechanism, and operates in accordance with an operation of the gripper. The conveyor conveys the article. The second driving mechanism linearly moves the conveyor in the at least two directions, and is connected to the conveyor. The base supports the first driving mechanism and the second driving mechanism.

Abstract: According to one embodiment, an alignment method includes setting a local area from an alignment target area, the local area being an execution target area of local alignment to be performed with precision equal to or higher than required alignment precision; performing the local alignment between a pattern image of an examination target and a reference pattern image of an examination reference, in the local area, to obtain a shift amount that is a result of local alignment; and shifting a whole of the reference pattern image by using the shift amount.