Abstract: A control device includes a master storage part that stores map data including obstacle information and environmental parameter information on an environmental parameter that may influence an object to be transported, and a transport path determination part that, based on a transport instruction and the map data, determines a transport path according to the object to be transported, which is indicated by transported object information included in the transport instruction, in consideration of the environmental parameter that may influence the object to be transported.

Abstract: A method is provided that includes: receiving designation of one or more operation sections; generating a plurality of path candidates of a robot for a target operation section of the one or more operation sections; displaying the plurality of path candidates on a user interface; receiving a selection of one of the plurality of path candidates; and deciding the selected path candidate as the operation path of the target operation section.

Abstract: A conveyance method includes: acquiring type identification information identifying a type of a conveyance target article; acquiring instrument identification information identifying the type of an instrument installed in each of a plurality of devices; specifying the type of the instrument associated with the type identified by the type identification information; selecting a target device in which the instrument of the specified type is installed among the plurality of devices; and outputting, to a conveyance robot, a conveyance instruction to convey the conveyance target article to the target device.

Abstract: A cooperation system that allows a robot and one or more operators to work together in cooperation, the cooperation system includes a calculator, a generator, and a providing unit. The calculator calculates a risk value that indicates a risk of interference between a manipulator of the robot and an object around the manipulator. The generator generates, depending on the risk value, a command that causes the manipulator to operate so as to avoid the interference between the manipulator and the object. The providing unit provides information in which a relationship between the risk value and a position of the manipulator is visualized.

Abstract: The present invention makes an instruction for causing a transport robot to carry out transport easier for a person to understand. A transport system (1) is such that an address indicating a transport destination or a transport source is represented by a tree structure including a node indicating loading locations and a node indicating equipment to which the loading locations are provided, and when the address of the transport destination indicates equipment, a transport robot (20) sequentially loads objects to be transported in accordance with a preset loading priority order in loading locations where no objects to be transported have been loaded, from among the loading locations belonging to that equipment.

Abstract: The present invention appropriately evaluates the quality of communications, and optimizes the allocation of conveyance instructions by a control device. The control device (10) is provided with: a communication quality determination unit (12) that determines the quality of wireless communications on the basis of a communication state of a telegram from a conveyance robot (20); and an instruction state determination unit (13) that determines, according to the quality of the wireless communications, an instruction state pertaining to whether to transmit an instruction for controlling the conveyance robot.

Abstract: A keyboard instrument includes a keyboard and an instrument case having a through hole penetrating therethrough from a top surface side to a bottom surface side and a positioning part configured to decide on a position of a music stand when a part of the music stand is disposed in the through hole.

Abstract: A method for assembling a keyboard instrument includes installing a keyboard unit on a lower case such that an insertion hole of a key-connecting part of the keyboard unit is positioned corresponding to a lower side installation part of the lower case; thereafter, placing a upper case on the keyboard unit such that an upper side installation part of the upper case is positioned inside the insertion hole of the key-connecting part of the keyboard unit and mates with the lower side installation part of the lower case; and while the upper side installation part of the upper case is positioned inside the insertion hole of the key-connecting part of the keyboard unit and mates with the lower side installation part, inserting a fastening member into the upper side installation part and the lower side installation part to fix the upper case to the lower case via the fastening member.

Abstract: A keyboard instrument includes a keyboard unit including a key-connecting part to which a plurality of keys are connected; and a lower case having a pedestal and a supporting part on the pedestal, the supporting part vertically protruding from an upper surface of the pedestal, wherein the key-connecting part is directly mounted on an upper portion of the supporting part.

Abstract: A keyboard instrument includes a keyboard and an instrument case having a through hole penetrating therethrough from a top surface side to a bottom surface side and a positioning part configured to decide on a position of a music stand when a part of the music stand is disposed in the through hole.

Abstract: A method for assembling a keyboard instrument includes installing a keyboard unit on a lower case such that an insertion hole of a key-connecting part of the keyboard unit is positioned corresponding to a lower side installation part of the lower case; thereafter, placing a upper case on the keyboard unit such that an upper side installation part of the upper case is positioned inside the insertion hole of the key-connecting part of the keyboard unit and mates with the lower side installation part of the lower case; and while the upper side installation part of the upper case is positioned inside the insertion hole of the key-connecting part of the keyboard unit and mates with the lower side installation part, inserting a fastening member into the upper side installation part and the lower side installation part to fix the upper case to the lower case via the fastening member.

Abstract: A keyboard instrument includes an upper case having an upper side installation part; a lower case having a lower side installation part at a position corresponding to the upper side installation part of the upper case; a keyboard unit including a key-connecting part to which a plurality of keys are connected, the key-connecting part having an insertion hole to which at least one of the upper side installation part and the lower side installation part is inserted; and a fastening member fastening the upper side installation part and the lower side installation part together.

Abstract: A keyboard instrument includes a keyboard unit including a key-connecting part to which a plurality of keys are connected; and a lower case having a pedestal and a supporting part on the pedestal, the supporting part vertically protruding from an upper surface of the pedestal, wherein the key-connecting part is directly mounted on an upper portion of the supporting part.

Abstract: A keyboard instrument includes an upper case having an upper side installation part; a lower case having a lower side installation part at a position corresponding to the upper side installation part of the upper case; a keyboard unit including a key-connecting part to which a plurality of keys are connected, the key-connecting part having an insertion hole to which at least one of the upper side installation part and the lower side installation part is inserted; and a fastening member fastening the upper side installation part and the lower side installation part together.

Abstract: An audio device and an electronic instrument are provided by which a device case can be downsized. An elastic member is interposed between an attachment hole provided in a panel-side sealed frame section of a speaker panel and a projection section of a speaker grill and, in this state, the speaker grill is fixed to the speaker panel by the projection section being subjected to torsion deformation. By the elastic member being deformed inside the attachment hole and coming in close contact with the surface of the projection section and the inner surface of the attachment hole, the attachment hole that is a through hole is filled. As a result of this structure, an attachment hole that is used when a speaker grill is attached to a speaker panel can be arranged at a position where it penetrates to an acoustic space.

Abstract: An audio device and an electronic instrument are provided by which a device case can be downsized. An elastic member is interposed between an attachment hole provided in a panel-side sealed frame section of a speaker panel and a projection section of a speaker grill and, in this state, the speaker grill is fixed to the speaker panel by the projection section being subjected to torsion deformation. By the elastic member being deformed inside the attachment hole and coming in close contact with the surface of the projection section and the inner surface of the attachment hole, the attachment hole that is a through hole is filled. As a result of this structure, an attachment hole that is used when a speaker grill is attached to a speaker panel can be arranged at a position where it penetrates to an acoustic space.

Abstract: A portable electronic apparatus includes a printer portion provided in a main body and having a printing head, a recording paper holder provided in a portion of the main body near to the printer portion, a holder cover openably attached to the paper holder, a platen provided on the holder cover and facing the printing head when the holder cover covers the paper holder, and a paper sensor provided on the holder cover, located near to the platen, and detecting the recording paper. The apparatus may includes a water-drop proof cover removably attached on the main body, covering a portion of the outer surface region of the main body which faces the printed recording paper discharged out from a recording paper discharge port formed in the portion of the outer surface region, and housing the printed recording paper discharged out from the paper discharge port.

Abstract: A piezoelectric resonator element is provided including a base portion and a plurality of resonating arms extending from the base portion. A notch part is formed in the base portion. Grooves are formed in the front and back surfaces of the resonating arms. A driving electrode is provided at least in the grooves of the resonating arms. The driving electrode has a lower layer and an electrode layer formed on the lower layer. The thickness t of the lower layer is in the range 0.07<t<0.3 micrometers.

Abstract: A line resin tube includes a resin composition (C) including 60 to 230 parts by mass of polyamide resin (B) based on 100 parts by mass of polyamide resin (A), wherein the polyamide resin (B) includes 6-nylon and/or denatured 6-nylon, and has a bending modulus of elasticity of 1 GPa or less measured by ASTM D790; and the polyamide resin (A) is obtained by polymerization condensation of xylylene diamine and adipic acid, and has a relative viscosity from 2.0 to 6.0 measured at 25° C. in a solution of 98% concentrated sulfuric acid.

Abstract: A portable electronic apparatus includes a printer portion provided in a main body and having a printing head, a recording paper holder provided in a portion of the main body near to the printer portion, a holder cover openably attached to the paper holder, a platen provided on the holder cover and facing the printing head when the holder cover covers the paper holder, and a paper sensor provided on the holder cover, located near to the platen, and detecting the recording paper. The apparatus may includes a water-drop proof cover removably attached on the main body, covering a portion of the outer surface region of the main body which faces the printed recording paper discharged out from a recording paper discharge port formed in the portion of the outer surface region, and housing the printed recording paper discharged out from the paper discharge port.