Abstract: An article transfer apparatus includes a holding portion, a driving portion that moves the holding portion, a control unit, and a reference detection portion that detects a reference position of a target article held by the holding portion. The control unit performs reference detection control to detect, by the reference detection portion, the reference position in a state in which the target article is lifted, determination control to determine a positional relationship between the holding portion and the reference position based on a result of detection by the reference detection control, and position calculation control to calculate, based on the positional relationship determined by the determination control, a movement destination position that is a position, of the holding portion at the movement destination, at which an outer edge of the target article held by the holding portion fits within a movement region.

Abstract: The transfer apparatus transfers an article, which is a package, to a container while holding an upper face of the package. A control apparatus performs both a transfer control to cause the transfer apparatus to transfer the article to the container and a first pressing control to cause the pressing apparatus to press, from above, the article that has been transferred to the container through the transfer control if the article to be transferred by the transfer apparatus is a type 1 article, and performs only the transfer control, of the transfer control and the first pressing control, if the article to be transferred by the transfer apparatus is a type 2 article.

Abstract: The presence of an article in a second container is recognized based on image capture information from an image capture apparatus, and the type of the article whose presence has been recognized is determined by a determining portion. A control apparatus performs a transfer control on an article that has been recognized and whose type has been determined by the determining portion, and a position correction control on an article that has been recognized but whose type has not been determined by the determining portion. During the transfer control, the transfer apparatus is controlled to hold a first position on an article contained in the second container to transfer this article W1 to a first container. During the position correction control, the transfer apparatus is controlled to determine a second holding position on an article contained in the second container, and to hold the second holding position to move the article within the second container.

Abstract: An article transfer apparatus includes a holding portion, a driving portion that moves the holding portion, a control unit, and a reference detection portion that detects a reference position of a target article held by the holding portion. The control unit performs reference detection control to detect, by the reference detection portion, the reference position in a state in which the target article is lifted, determination control to determine a positional relationship between the holding portion and the reference position based on a result of detection by the reference detection control, and position calculation control to calculate, based on the positional relationship determined by the determination control, a movement destination position that is a position, of the holding portion at the movement destination, at which an outer edge of the target article held by the holding portion fits within a movement region.

Abstract: The transfer apparatus transfers an article, which is a package, to a container while holding an upper face of the package. A control apparatus performs both a transfer control to cause the transfer apparatus to transfer the article to the container and a first pressing control to cause the pressing apparatus to press, from above, the article that has been transferred to the container through the transfer control if the article to be transferred by the transfer apparatus is a type 1 article, and performs only the transfer control, of the transfer control and the first pressing control, if the article to be transferred by the transfer apparatus is a type 2 article.

Abstract: The presence of an article in a second container is recognized based on image capture information from an image capture apparatus, and the type of the article whose presence has been recognized is determined by a determining portion. A control apparatus performs a transfer control on an article that has been recognized and whose type has been determined by the determining portion, and a position correction control on an article that has been recognized but whose type has not been determined by the determining portion. During the transfer control, the transfer apparatus is controlled to hold a first position on an article contained in the second container to transfer this article W1 to a first container. During the position correction control, the transfer apparatus is controlled to determine a second holding position on an article contained in the second container, and to hold the second holding position to move the article within the second container.