Abstract: According to one embodiment, a processing device is configured to obtain first events indicating that a holding part of a handling robot has passed through respective predetermined passing-through positions. The processing device is configured to obtain a plurality of images of the handling robot. The processing device is configured to identify, when obtaining a second event indicating an abnormality in the handling robot, a first period that is between two of the plurality of first events and includes occurrence timing of the second event, or a second period that is from one of the plurality of first events immediately before the occurrence timing to the occurrence timing. The processing device is configured to extract at least one of the plurality of images obtained in the first period or the second period from the plurality of images.

Abstract: According to an embodiment, a handling system handles an object. The handling system includes a holder and a controller. The holder includes a main body operable to hold an object and an interference permitter displaceably or deformably attached to the main body. A controller is configured to control a motion of the holder. The controller is configured to plan a movement route of the holder. The controller is configured to determine the presence or absence of physical interference of the holder on at least a part of the planned movement route. The controller is configured to, as to a specific segment included in the planned movement route, determine the presence or absence of physical interference of the main body and permit physical interference of the interference permitter.

Abstract: A handling system according to an embodiment handles/processes plural kinds of articles. The handling system includes first and second conveyance devices, and a control device. The first conveyance device transports a processing target article among the articles to a work area for a robot to handle/process the target article. The second conveyance device transports the target article to a work area for as operator to handle/process the target article. The control device determines by which of the robot or the operator the target article is processed according to process information generated based on an article handling/processing result by the robot in past. The control device transports the target article to the first conveyance device when the target article is determined to be processed by the robot and transports the target article to the second conveyance device when the target article is determined to be processed by the operator.

Abstract: According to one embodiment, an instruction device causes, in shipping processing, a plurality of transport devices transporting articles to move respectively to a first area and a second area. The first area and the second area faces each other with a work area interposed. A worker is in the work area. The instruction device further causes one of the plurality of transport devices to transfer the article with the worker in a first section adjacent to the first area. The instruction device further causes another one of the plurality of transport devices to transfer the article with the worker via a take-out device in a second section adjacent to the second area. The take-out device removes the article from the other one of the plurality of transport devices.

Abstract: According to an embodiment, a handling system includes a holder and controller. The holder holds an object. The controller controls the holder. The controller acquires information about physical properties of the object. The controller generates a holding plan for holding the object by the holder on the basis of the physical properties. The holding plan includes information of a holding region of the object in which the object is held by the holder. The controller causes the holder to hold the object on the basis of the holding plan.

Abstract: According to one embodiment, a handling system includes a movable arm, a holding unit, a sensor, and a controller. The holding unit is attached to the movable arm and capable of holding an object by selecting one or more of a plurality of holding methods. The sensor is capable of detecting a plurality of the objects. The controller controls the movable arm and the holding unit. The controller calculates a score based on a selected holding method for each object and each holding method on the basis of information acquired from the sensor. The controller selects a next object to be held and a holding method on the basis of the score. The controller calculates a position at which the selected object is held and a posture of the movable arm.

Abstract: According to an embodiment, a handling system that handles an object is provided. The handling system has a holding unit, a storage unit, and a processing unit. The holding unit holds the object. The storage unit stores operation setting information and operation history information. The operation setting information associates first information entailed in the holding operation in which the holding unit holds the object, with second information including an operation setting for operating the holding unit. The operation history information includes operation records of the holding unit. The processing unit controls an operation of the holding unit on the basis of the operation setting information. The processing unit updates the operation history information on the basis of operation records of the operation. The processing unit determines whether to update the operation setting information on the basis of the updated operation history information.

Abstract: According to an embodiment, a work support device includes a measurement unit and an irradiation control unit. The measurement unit measures an in-passage structure of a passage inside of which a user can work. The irradiation control unit controls an irradiation unit to emit light indicative of a work region to a corrected work position obtained by correcting work position information set based on a predetermined designed in-passage structure indicative of an ideal structure in the passage by using a result of the measurement by the measurement unit.

Abstract: A handling system according to an embodiment includes: a handling device configured to transfer an object from a transfer source space to a transfer destination space with the object gripped; a transfer destination measuring device configured to measure a transfer destination shape that is a shape of the transfer destination space; and a control device configured to control the handling device and the transfer destination measuring device. The control device described above records a measurement history of the transfer destination shapes acquired from the transfer destination measuring device and a calculation history of placement positions of the objects transferred to the transfer destination space and generates a complemented transfer destination shape acquired by complementing the transfer destination shape on the basis of the measurement history of the transfer destination shapes and the calculation history of the placement positions.

Abstract: According to one embodiment, a handling system includes: a holding unit configured to hold an object; a holding state sensor configured to detect a holding state; a detection unit configured to detect the object and a holding posture; and a control device configured to control an operation of the holding unit. The control device performs: generating a carrying operation plan for allowing the holding unit to carry the object; calculating a safety factor indicating stability of a state in which the holding unit holds the object on the basis of the holding state, the holding posture, and the carrying operation plan; determining whether the carrying operation plan is to be changed on the basis of the safety factor; and changing the carrying operation plan on the basis of the safety factor when it is determined that the carrying operation plan is to be changed.

Abstract: According to one embodiment, a hand includes a gripper, a driver, and a controller. The gripper is configured to grip an object. The driver drives the gripper. When a stability when gripping the object is estimated, the controller causes the driver to perform a first motion to increase the stability. The stability is estimated based on contact information of the gripper for the object, and characteristic information including at least one of a size or a weight of the object.

Abstract: According an embodiment, a work support device includes an arm unit, a brake unit, a state determination unit, and a brake control unit. The arm unit includes a grasping part configured to grasp an object, a plurality of joint parts, and a plurality of link parts actuatably coupled through each joint part. The brake unit is provided to at least one of the joint parts to restrict actuation of the arm unit. The state determination unit determines the state of the arm unit. The brake control unit controls the brake unit to restrict actuation of the arm unit in accordance with the state of the arm unit.

Abstract: According to one embodiment, a handling device includes: a holding part that includes two or more supporting parts and is capable of holding an object by gripping the object with the two or more supporting parts; a calculation part configured to calculate a safety factor indicating safety of a state of the holding part holding the object; and a controller configured to cause the holding part to hold the object according to the safety factor.

Abstract: A handling device according to an embodiment has a holder, a calculator, and a controller. The holder is capable of holding an object. The calculator calculates an estimated holding safety factor when the holder holds an object. The controller causes the holder to hold the object on the basis of the estimated holding safety factor calculated by the calculator.

Abstract: A handling device according to an embodiment includes a manipulator, a normal grid generation unit, a hand kernel generation unit, a calculation unit, and a control unit. The normal grid generation unit converts a depth image into a point cloud, generates spatial data including an object to be grasped that is divided into a plurality of grids from the point cloud, and calculates a normal vector of the point cloud included in the grid using spherical coordinates. The hand kernel generation unit generates a hand kernel of each suction pad. The calculation unit calculates ease of grasping the object to be grasped by a plurality of suction pads based on a 3D convolution calculation using a grid including the spatial data and the hand kernel. The control unit controls a grasping operation of the manipulator based on the ease of grasping the object to be grasped by the plurality of suction pads.

Abstract: According to one embodiment, a picking system includes a picking robot and a control device. The picking robot transfers an object from a first space to a second space by using a robot hand. The control device controls the picking robot. When a first measurement result related to a shape of the object in the first space when viewed along a first direction is acquired, the control device performs a first calculation of calculating a position candidate for placing the object in the second space based on the first measurement result. When a second measurement result related to a shape of the object when viewed along a second direction is acquired, the control device performs a second calculation of calculating a position of the robot hand when placing the object in the second space based on the second measurement result and the position candidate.

Abstract: An object manipulation apparatus according to an embodiment of the present disclosure includes a memory and a hardware processor coupled to the memory. The hardware processor is configured to: calculate, based on an image in which one or more objects to be grasped are contained, an evaluation value of a first behavior manner of grasping the one or more objects; generate information representing a second behavior manner based on the image and a plurality of evaluation values of the first behavior manner; and control actuation of grasping the object to be grasped in accordance with the information being generated.

Abstract: According to one embodiment, a handling system includes a first mobile robot, a first transfer robot, and a picking robot. The first mobile robot transports a first container out of a loading location of the first container. An article is stored in the first container. The first transfer robot transfers the first container from one of the first mobile robot or a first loading platform to the other of the first mobile robot or the first loading platform. The picking robot moves the article from the first container placed on the first loading platform to a second container placed on a second loading platform.

Abstract: A handling apparatus has an arm having a joint; a holding portion attached to the arm and configured to hold an object; a sensor configured to detect a plurality of the objects; and a control apparatus configured to control the arm and the holding portion, wherein the control apparatus is configured to calculate an ease of holding the object by the holding portion as a score based on information acquired by the sensor with respect to each object and each holding method, select the object to hold and the holding method according to the score, and calculate a position for holding the selected object and an orientation of the arm.

Abstract: According to an embodiment, there is provided a handling system capable of handling a plurality of objects, the handling system including: a movable arm, a holder, a sensor, and a controller. The holder is attached to the movable arm and is capable of holding the object. The sensor is capable of detecting the object. The controller controls the movable arm and the holder. The controller determines whether or not to change an arrangement of the object before the object is held, on the basis of information acquired from the sensor. In a case where it is determined to change the arrangement of the object, the controller evaluates effectiveness of an arrangement change operation for each object, and decides on an arrangement change operation on the basis of an evaluation result.