Abstract: A delivery system may include a pallet wrapper system having a turntable, a camera directed toward an area above the turntable, and a stretch wrap dispenser adjacent the turntable. A computer receives images from the camera of multiple sides of a pallet loaded with packages on the turntable. The computer stitches images from different sides of the stack of packages that correspond to the same package. At least one machine learning model may be used to infer SKUs of each package. Optical character recognition may be performed in parallel on the images. The determination of the SKU of each package may be based upon the inferred SKUs and on the OCR.

Abstract: A method of lining up portions of slices of food, the portions are transported by a belt conveyor on a plurality of tracks along a conveying direction, one of the plurality of tracks is selected as a first reference track, conveying speeds of a remainder of the plurality of tracks excluding the first reference track are adapted in such a way that the portions are arranged in straight rows arranged orthogonally to the conveying direction when the portions reach a lining-up position, and when the lining-up position is reached, the conveying speeds of the plurality of tracks including the first reference track are aligned to one another.

Abstract: Systems and methods are disclosed for light curtain contour detection failure compensation. In one embodiment, an example carrier may include a first base portion, a second base portion, and a platform disposed between the first base portion and the second base portion, where the platform is configured to support a first rollable cart and a second rollable cart. Some embodiments include a frame and a first light curtain assembly coupled to the frame on a first side of the carrier. The shuttle may include a first reflective component removably coupled to the first base portion on the first side of the carrier, and a second reflective component removably coupled to the second base portion on the first side of the carrier, where the first reflective component and the second reflective component are configured to reflect light emitted by the light curtain assembly.

Abstract: Systems are provided for determining location of tags in an environment. The system includes at least one mobile antenna that moves around the environment. The absolute location associated with the mobile antenna is known and it sends and receives messages including at least one of time of arrival, time of departure, signal strength and angle of arrival. A measurement module performs distance measurement between the at least one mobile antenna and at least one tag in the environment to obtain at least. The distance measurements are associated with at least two locations of mobile antenna. A storage module records the distance measurements at the at least two locations and the at least two locations. A location module computes a location of each of the at least one tags based on the recorded distance measurements at the at least two locations and the recorded locations of the mobile antenna.

Abstract: A load planning platform may generate, according to one or more loading rules, a preliminary packing solution that simulates placing unpacked items, in a set of items, into a container. The load planning platform may generate a set of packing solutions by applying one or more available moves to the preliminary packing solution. The load planning platform may select a final packing solution from the set of packing solutions based on one or more optimization criteria associated with the container and the set of items. The load planning platform may provide access to a three-dimensional rendering of the final packing solution that differentiates each item in the set of items based on a sequence in which the set of items are to be unloaded from the container.

Abstract: A system for automatic filling of medication organizers comprises i) a storage unit for medication containers that is accessible from a first side thereof ii) a plurality of medication organizer filling units, each having a temporary storage rack that is accessible from a side of the medication filling units that faces the storage unit, and iii) a container handling system that is positioned between the storage unit and the temporary storage racks and that is movable between the storage unit and each of the temporary storage racks for transferring selected medication containers therebetween. The system allows minimizing idle times by moving medication containers between the storage unit and temporary storage racks simultaneously to the filling process.

Abstract: A transport system includes a track, transport vehicles, an area controller, buffers, and a host controller. The area controller, when a number of the transport vehicles present within a control area is a predetermined number and when receiving a first transport command to convey an article from a transfer port to a transport destination outside the control area from the host controller, stores the first transport command and transmits a report that the first transport command is not able to be assigned to the transport vehicle to the host controller. The host controller, when receiving the report, when the buffer is present, transmits a command to delete the stored first transport command to the area controller, generates a second transport command to convey the article from the transfer port to the buffer, and transmits the second transport command to the area controller.

Abstract: A delivery system may include a pallet wrapper system having a turntable, a camera directed toward an area above the turntable, and a stretch wrap dispenser adjacent the turntable. A computer receives images from the camera of multiple sides of a pallet loaded with packages on the turntable. The computer stitches images from different sides of the stack of packages that correspond to the same package. At least one machine learning model may be used to infer SKUs of each package. Optical character recognition may be performed in parallel on the images. The determination of the SKU of each package may be based upon the inferred SKUs and on the OCR.

Abstract: Control architecture for use with transport systems, such as linear drive systems, rotary drive systems, or a combination thereof, comprising a computer system having a controller for operating control system software for receiving input commands and protocols for creating a motion profile for each transport element, and a gateway for receiving the motion profile from the control system software and for operating gateway drive software that functions to select the appropriate drives to move each transport element along one or more tracks in accordance with their motion profiles.

Abstract: An automation arbitration controller system is provided. The automation arbitration controller is configured to arbitrate a multiple of automation requests on a material handling vehicle, which includes a material handling vehicle controller. The automation arbitration controller can be connected to at least one automation controller via an automation communication bus. The automation controller can be configured to send one or more automation requests. The automation arbitration controller can also be connected to a material handling vehicle controller via a vehicle communication bus. The material handling vehicle controller can be configured to send one or more automation requests.

Abstract: The invention relates to a conveyor arrangement, comprising a motor-operated conveyor roller, comprising a roller body which is mounted so as to be rotatable about a roller axis, a drive unit which is arranged within the roller body and is mechanically coupled between the roller body and an axle element and is designed to generate a torque between the axle element and the roller body, and a control data interface which is connected in a signal-transmitting fashion to the drive unit. The invention is characterized by an electronic addressing model which can be coupled in a signal-transmitting fashion to the sensor and to the bus line and is designed to encode a sensor signal, which is generated by the sensor and received in the addressing module, to form a bus-encoded sensor data block which comprises a digital sensor signal data block which characterises the sensor signal and a sensor address data block, and to transmit the bus-encoded sensor data block into the bus line.

Abstract: Provided is a position and posture estimation system including: a laser sensor that detects a distance to a pallet; a plane equation calculation unit that calculates a plane equation of a front surface of the pallet on the basis of detection data of the laser sensor; and an estimation computation unit that estimates the position and the posture of the pallet by using the plane equation of the front surface of the pallet which is calculated by the plane equation calculation unit. The estimation computation unit calculates a yaw angle, a pitch angle, and a roll angle of the pallet as the posture of the pallet.

Abstract: A distribution system is disclosed for use in an induction system with an object processing system. The distribution system provides distribution of dissimilar objects into one of a plurality of receiving units. The distribution system includes an urging system for urging an object on a conveyor from the conveyor to one of a plurality of adjacent receiving stations via a receiving chute, wherein each receiving station is lower than the conveyor.

Abstract: A method of teaching a robot including providing a pin at a location within a work station, and the robot in an area adjacent to the station. The robot having an arm and an end effector that pivots. The end effector has a through-beam sensor including a light emitter and a light receiver to sense when an object is present therebetween. The robot is moved to perform sensing operations in which the sensor senses the pin, such operations are performed while a position and/or an orientation of the end effector are varied to gather sensed position and orientation data. The sensing operations are performed such that the pin is located at different distances between the emitter and the receiver as the robot moves the sensor across the pin. Calculations are performed on the data to determine the location of the pin with respect to a coordinate system of the robot.

Abstract: Provided are methods, including computer-implemented methods, devices, and computer-program products applying systems and methods for facility matching and localization. According to some embodiments of the invention, the location of a pallet at a facility within a supply chain may be determined from location data received from a beacon on the pallet. In some embodiments, the position of the pallet within the facility may also be determined. Thus, the status of pallets may be monitored as they move through the supply chain.

Abstract: Computer-implemented systems and methods generate dynamic and interactive user interfaces. In one embodiment, a computerized system includes a user interface and at least one processor configured to receive data related to at least a first request of a department, receive data related to positioning of a plurality of employees of the department, and data indicative of equipment in the possession of the plurality of employees, generate an assignment for at least one employee based on the received data, provide for display at the at least one user interface, an interactive graphical user interface indicative of the assignment to the at least one employee, the graphical user interface including elements for indicating a status of the assignment. The at least one processor monitors whether the assignment has been accepted, and determines whether the assignment has been completed, based in part on interaction with the graphical user interface.

Abstract: An information processing device includes an association information acquiring unit, a first position information acquiring unit, and an output control unit. The association information acquiring unit acquires association information in which first identification information used for identifying baggage and second identification information used for identifying an owner of baggage identified by the first identification information are associated with each other. The first position information acquiring unit acquires position information of target baggage that is baggage identified by the first identification information included in the association information. The output control unit causes a mobile terminal held by a target owner who is an owner of the baggage identified by the second identification information associated with the first identification information relating to the target baggage in the association information to output information based on the position information of the target baggage.

Abstract: A CPS-based smart forklift truck management device includes a space information collector collecting distribution warehouse space information, a distribution warehouse visualizer which generates a digital twin for a distribution warehouse space based on the collected distribution warehouse space information and visualizes a loading situation of an article storage and a movement situation of a forklift truck on the distribution warehouse space digital twin, a movement path information provider which selects a target location at which an article is to be stored based on the visualized distribution warehouse space digital twin and provides information a path through which the forklift truck is movable to the target location, and a height adjustment information provider which provides forklift height adjustment information of the forklift truck according to a location of a storage cell corresponding to the article storage when the forklift truck arrives at the article storage corresponding to the target location.

Abstract: A collaborative-robot control system is provided in the invention. The collaborative-robot control system includes a plurality of test machines, a plurality of collaborative robots, a first control system and a second control system. The plurality of test machines are configured in a plurality of paths. When the second control system assigns a first collaborative robot of the plurality of collaborative robots in a waiting area to a first test machine in a first path of the plurality of paths and the first collaborative robot is being blocked by a second collaborative robot of the plurality of collaborative robots in the first path, the second control system generates a push-forward command and transmits the push-forward command to the first control system. The first control system sends the push-forward command to the second collaborative robot to order the second collaborative robot to leave the first path first.

Abstract: A manufacturing line for manufacturing layered products, comprising a plurality of manufacturing stations disposed along a transportation track of a transportation system. The plurality of manufacturing stations includes a number of layer dispensing stations, the transportation system comprising a plurality of product holders that are each arranged to be moved individually along the transportation track to visit manufacturing stations along the transportation track. The product holders are arranged to hold a stack of layers, and the transportation track includes a loop and a router. The router is arranged to route product holders to revisit manufacturing stations via the loop in the transportation track.

Abstract: A method includes transmitting, by a radio frequency identification (RFID) reader, a series of RF signals to a plurality of RF receiver circuits in a time sequence. The first RF signal commands the plurality of RF receiver circuits to remain silent when received signal strength of the first RF signal corresponds to a power level greater than a first power level. The method further includes receiving one or more sets of responses from one or more sets of RF receiver circuits of the plurality of RF receiver circuits in response to the series of RF signals. The method further includes determining an area of interest based on the one or more sets of responses, determining a set of power levels corresponding to the area of interest, and transmitting a second series of RF signals to the plurality of RF receiver circuits in a second time sequence.

Abstract: Implementations of an automated round tube loading machine are provided. In some implementations, the automated round tube loading machine comprises a tube pickup mechanism, a tube stacking mechanism, and a tube loading mechanism. In some implementations, the automated round tube loading machine may further comprise a front side conveyor, a back side conveyor, and/or a computer system. In some implementations, a method of operation of the automated round tube loading machine comprises the machine receiving, picking up, moving, dropping off, stacking, and loading a plurality of round tubes into a box.

Abstract: A component mounting system includes: a mounting line in which multiple component mounting machines, each including a component supply device, are arranged in a predetermined direction; a mobile work device, moving along the predetermined direction, which at least replenishes each of the component mounting machines with the component supply device or recovers the component supply device from each of the component mounting machines, and a management device transmits a signal to the mobile work device via a communication path. The communication path is an optical wireless communication path provided along the predetermined direction.

Abstract: Systems, methods, and computer-readable media are disclosed for scanning and dimensioning items in motion. In one embodiment, an example system may include a first camera oriented along a vertical axis towards a gap between a first surface and a second surface, a first light emitting array positioned to emit light towards the gap, and a first light receiving array aligned with the light emitting array and configured to detect the light. The first light emitting array and the first light receiving array may be offset from the vertical axis, and the system may be configured to determine a first dimension of an item passing over the gap using the first light emitting array and the first light receiving array.

Abstract: A crane control for a crane includes a visualization apparatus which is adapted to generate a stereoscopically visualized camera image having depth information of a working environment of the crane for an operator of the crane control. The visualization apparatus is configured to generate in a representation overlying the camera image a graphic auxiliary representation representing a dimension which can be recognized per se in the camera image. Furthermore, the visualization apparatus includes a display device which displays the stereoscopically visualized camera image together with the overlying graphic auxiliary representation.

Abstract: A method for operating an order-picking system (100) is described, comprising: providing goods gathered in batches in a batch buffer (1), batch-wise sorting of the goods in a matrix sorter (2), the goods in the order-picking system (100) being conveyed by a multiplicity of transport units which have in each case a receiving unit for receiving the goods and the transport units in the matrix sorter (2) are conveyed at least in sections by a matrix conveyor (22), wherein a control unit (7?) dynamically controls the conveying speed of the matrix conveyor (22) in such a manner that the conveying speed is dependent on at least one parameter of the conveyed transport units and/or goods.

Abstract: Described herein are apparatus and methods used to process a substrate in a chamber, in particular to position a non-round substrate in a holding chamber or a processing chamber. Further described herein are methods and apparatus that detect radiation transmitted along the thickness of the substrate between the top surface and the bottom surface, determine a signal strength as the substrate is rotated and obtaining a signal strength pattern to determine a position of the substrate within the chamber with respect to a center position.

Abstract: The linear conveyor device includes a position detecting device including a scale attached to a slider, and a sensor structural body including a sensor and a driver. The driver is provided with a first and a second signal processing units, and a signal comparison processing unit. The first signal processing unit performs predetermined first interpolation processing on an output signal from a first sensor, generates and outputs first positional data. The second signal processing unit performs predetermined second interpolation processing on an output signal from a second sensor, generates second positional data, and outputs the second positional data. The signal comparison processing unit recognizes the first positional data as positional information of the slider, generates identification information unique to the slider, and outputs the identification information, where the identification information corresponds to a difference between the first positional data and the second positional data.

Abstract: Methods, apparatus, and systems are described for managing logistics information related to a container using a container interface display apparatus. The container interface display apparatus may comprise a mountable housing, a display screen, a memory, a scanner, and a wireless communication interface. The housing is coupled to the container to permit the scanner to identify an item being loaded for shipment within the container. The scanner identifies the item, and the apparatus records an association in memory as part of managed logistics information that reflects an established and tracked relationship between the container and the item. The apparatus increments package count information (another part of the managed logistics information) to reflect that the item is loaded within the container. The apparatus generates electronic logistics monitor information on the display screen to include at least a portion of the managed logistics information related to the container.

Abstract: In some embodiments, the present disclosure provides a network of multi-functional sensors; where, based on a quality insurance, each multi-functional sensor is positioned in, on, or in a vicinity of: a transported cargo and/or a cargo container, containing the transported cargo; where each multi-functional sensor is configured to measure particular transport-related condition, particular cargo-related condition, or both, to form cargo transport sensor data and wirelessly transmit it to a server that is configured to dynamically predict, based on the cargo transport sensor data, a predicted quality loss of the transported cargo, determine a current loss value of the transported cargo and cause one or more remedial actions that include instantaneously instructing to pay a payout amount to an owner of the transported cargo to compensate for the current loss value and/or transmitting a remedial instruction with an adjustment to the operation of one or more of a cargo transport, the cargo container, and a cargo s

Abstract: In an embodiment, a system includes: a wafer pod defining a cavity configured to store a wafer at a wafer position; calibration sensors within the cavity, each calibration sensor configured to produce calibration data indicating that the wafer is at a respective part of the cavity; and a processor configured to determine whether the wafer is positioned at the wafer position within the cavity based on the calibration data.

Abstract: A user may move a specimen holder from one specimen rack to another specimen rack. A database automatically tracks the movement of the specimen holder from a rack slot of one specimen rack to a rack slot of the other specimen rack. To track movement of the specimen holder, the user places a specimen rack on a specimen reader that determines the location of any specimen holders in slots of the specimen rack. The user removes a particular specimen holder from a particular rack slot of the specimen rack and the database is updated to reflect removal of the particular specimen holder from the specimen rack. The user places another specimen rack on the reader and inserts the newly removed specimen holder in a slot of the another specimen rack. The database is updated to reflect insertion of the specimen holder in a particular slot of the another rack.

Abstract: A conveyor system for transporting articles, comprising a rail system that comprises a plurality of track sections and at least one switch point, by which, via a switch point drive, a first track section can be connected to a second track section or to a third track section of the rail system. At least one drivable transport trolley can be driven along a path of movement on the rail system. A communications system with comprises at least one communications line that extends along the path of movement of the at least one transport trolley. A trolley communications unit disposed on the at least one transport trolley interacts with the communications line. The switch point drive can be controlled by means of a switch point control system, which is connected to the at least one communications line.

Abstract: In accordance with some embodiments, a positioning calibration device arranged within a transfer buffer is provided. The positioning calibration device includes at least one target element and at least three positioning modules. The at least one target element is arranged on a wafer transportation apparatus within the transfer buffer. The transportation apparatus is utilized to transfer a wafer. The at least three positioning modules are utilized to detect the positions of the at least one target element by wireless communications for generating position information of the wafer transportation apparatus. The heights which each of the at least three positioning modules arranged at are not the same.

Abstract: There is obtained a configuration capable of rapidly decelerating a motor even if a failure occurs in the communication between a controller and a motor control unit in a motor controller in which a speed command is input from the controller to the motor control unit. A motor controller 1 is provided with a main controller 2, and a motor control unit 3 configured to be communicable with the main controller 2 to drive a motor M according to a torque command output from the main controller 2. The motor control unit 3 includes a speed control unit 31 for outputting a torque command, so as to decelerate the motor M, if any failure occurs in communication with the main controller 2 while the motor M is being driven.

Abstract: One or more RFID-tag readers are operably coupled to one or more RFID-tag reader antennas that are installed to primarily read RFID tags in a given hallway. Accordingly, at least a majority of the area within storage spaces that border the given hallway are without sufficient reader energy to power those RFID tags. Accordingly, many, most, or even all of the items that are stored in the storage space will receive insufficient reader energy to power their corresponding RFID tags.

Abstract: A system for locating goods stored in a storage area includes a computer, radio frequency transceivers and modular hangers. Ordered goods are placed in storage units that each have addresses at a central filling center. The filled storage units are shipped to local storage areas where they are coupled to hook units to form modular hangers and stored on rails. The identifications of the goods and the electronic addresses for corresponding hangers are stored on a local computer database. When a user wants to pick up goods stored in the containers, the user inputs the identification or order information for the goods and the computer will cause the radio frequency transmitter to emit a data packet that includes a search address and illumination data. The hangers compare the search address to the electronic address. If there is a match, the hanger is illuminated so the ordered goods can be found.

Abstract: A manipulator and a method of generating the shortest path along which the manipulator moves to grip an object without collision with the object models a target object and a gripper into a spherical shape, measures a current position of the gripper and a position of the target object and a target position of the gripper, calculates an arc-shaped path in a two-dimensional plane along which the gripper needs to move by calculating an included angle of a triangle consisting of the position of the object and the current position and target position of the gripper, transforms the arc-shaped path in the two-dimensional plane into an arc-shaped path in a three-dimensional space using a transform matrix consisting of the position of the object and the current position and target position of the gripper, thereby automatically generating the shortest path of the manipulator.

Abstract: An eyeglass lens supplying system for supplying an eyeglass lens to a plurality of eyeglass lens processing apparatus includes: a plurality of conveyer line units, each of which includes: at least one conveyer line conveying a tray; a tray moving unit separating at least two trays from the conveyer line to move the trays to standby positions, and put the tray on the conveyer line; and a control unit obtaining processing information from a host computer; a carrying-in conveyer line connected to the conveyer line of the conveyer line unit; a carrying-out conveyer line connected to the conveyer line of the conveyer line unit; a main control unit communicating with each of the control units, and determines the processing apparatus to process the lens in the tray on the carrying-in conveyer unit, or determines the conveyer line unit to convey the tray on the carrying-in conveyer unit.

Abstract: Embodiments of the invention include apparatuses and systems for determining the position of a carrier ring assembly supported by an end effector. In an embodiment, the position of the carrier ring assembly is determined by passing the carrier ring assembly through a plurality of through beam sensors. As the carrier ring passes through the sensors, a plurality of sensor transitions along points on the carrier ring assembly are detected. Each sensor transition indicates that one of the through beam sensors changed from an unblocked state to a blocked state, or changed from an blocked state to an unblocked state. The position of the end effector is recorded at each sensor transition and is associated with the sensor transition that caused the end effector position to be recorded. A position of the carrier ring assembly is then calculated from the plurality of sensor transitions and their associated end effector positions.

Abstract: A system and method are disclosed, which can detect and process a position of at least one storage space device moving a bulk material. A first storage space device can have a gantry having two gantry legs, each of the two gantry legs supported on a linearly displaceable foot element. The system can include at least one first non-contact distance sensor, which is fitted on one of the two foot elements to measure a first relative distance between the one foot element and a first fixed reference point. A second non-contact distance sensor is fitted to the other of the two foot elements in order to measure a second relative distance between the other foot element and a second fixed reference point, and an evaluation unit is configured to determine rotation of the first storage space device about a central vertical axis and control the movement of the foot elements.

Abstract: A packaging system and method for receiving articles from a first location, such as a product delivery system, transporting the articles to a second location for unloading the articles such that they are placed in a desired orientation and number of columns, rows, and stacks.

Abstract: A container unloading system that is adapted to automatically unload containers from carts while the containers and carts reside in an unloading station. The containers may be off-loaded onto a conveyor. The system includes a frame that is movable along the path of ingress/egress of the carts, and a vertically and horizontally movable lifting device that is supported on the frame and adapted to engage and lift the containers. A number of sensors may be present to gather information about the carts and/or containers and to send corresponding signals to a controller that is programmed to automatically operate the system.

Abstract: A radio frequency identification (RFID) tower crane load locator is disclosed. One example includes at least four RFID components to provide RFID range measurements between the at least four RFID components. In addition, a load position determiner utilizes the RFID range measurements to determine a location of the load. A load information generator provides the location of the load information suitable for subsequent access by a user.

Abstract: An apparatus for the automated detection and removal of workpieces comprising an object recognition device for detecting the workpieces and a gripper for picking the workpieces; and a gripper for picking the workpieces; and a control for evaluating the data of the object recognition device, for track planning and for controlling the gripper, wherein the object recognition device is arranged at a travel arrangement by which it can be traveled from a position of rest into at least one measuring position and back.

Abstract: There is proposed a unit including a station for preparing orders, controlled by a control system. The station has a first circuit that includes a first outward conveyor, which receives containers for storing products, and an accumulator for accumulating a predetermined quantity of storage containers received on the first outward conveyor. The accumulator includes: at least one first shaft comprising superposed mobile positions that can each receive and downwardly move at least one storage container, the at least one first shaft vertically accumulating and sequentially dispensing storage containers previously placed in the positions; and at least one first elevator moving vertically along the at least one first chute up to each of the locations of the at least one first chute.

Abstract: Control architecture for use with transport systems, such as linear drive systems, rotary drive systems, or a combination thereof, comprising a computer system having a controller for operating control system software for receiving input commands and protocols for creating a motion profile for each transport element, and a gateway for receiving the motion profile from the control system software and for operating gateway drive software that functions to select the appropriate drives to move each transport element along one or more tracks in accordance with their motion profiles.

Abstract: A handling system for containers includes an automated zone in which floor-bound, rubber-tired and driverless container transport vehicles are used which transport containers between container bridges and a container storage facility. A non-automated zone is provided in which floor-bound, rubber-tired and manned container transport vehicles are used, the container transport vehicles being optionally operable in a driverless or manned mode and thus being optionally transportable in the automated zone or the non-automated zone. A corresponding container transport vehicle which can be connected to an auxiliary device for control in the manned mode is characterized in that the auxiliary device comprises a driver's cab that is equipped with a control system for steering, motion control and braking in the manned mode, the container transport vehicle having a detachable fastening possibility for the driver's cab at the front face of the vehicle.

Abstract: An automated storage system for vehicles or the like is provided with a guidance system that interacts with a remote-controlled transport system that transports a vehicle between an access location, such a drive-up location, and a storage location. More particularly, in one embodiment, an omni-directional, battery-powered, wirelessly-controlled, transport system or so-called automated guided vehicle (“AGV”) is designed to follow magnetic field generating wires and RFID chips on the floors of the parking facility to move forward, backward and side to side underneath cars that are parked on a flat surface. In one embodiment, the AGV automatically contracts and expands its body to slide its arms under the wheelbase of a car, lift the car, and roll with speed and precision in any direction on to a waiting lift, that will then raise and lower the AGV and its automobile payload toward its ultimate destination.

Abstract: A transporting apparatus includes a motor, a transporting mechanism which receives a power from the motor and transports the sheet, and a control section which controls the motor in accordance with a predetermined control sequence to make the transporting mechanism transport the sheet up to a target position, and detects an occurrence of an electric-current saturation phenomenon in the motor. When the control section detects the occurrence of the electric-current saturation phenomenon, the control section performs correction of the predetermined control sequence including correction in which a target transporting velocity of the sheet is lowered from a predetermined value determined in the predetermined control sequence, and controls the motor in accordance with the corrected control sequence to make the transporting mechanism transport the sheet so that the sheet is stopped at the target position.